U.S. patent application number 17/120730 was filed with the patent office on 2021-06-24 for control device for human-powered vehicle and power transmission system.
The applicant listed for this patent is Shimano Inc.. Invention is credited to Atsuhiro EMURA, Mitsuhiko KAWASAKI, Satoshi SHAHANA, Hayato SHIMAZU.
Application Number | 20210188394 17/120730 |
Document ID | / |
Family ID | 1000005313829 |
Filed Date | 2021-06-24 |
United States Patent
Application |
20210188394 |
Kind Code |
A1 |
SHAHANA; Satoshi ; et
al. |
June 24, 2021 |
CONTROL DEVICE FOR HUMAN-POWERED VEHICLE AND POWER TRANSMISSION
SYSTEM
Abstract
A human-powered vehicle includes a crank axle, a first
rotational body, a wheel, a second rotational body, a transmission
body that transmits a driving force between the first rotational
body and the second rotational body, a derailleur configured to
operate the transmission body to change a transmission ratio, and a
motor configured to drive the transmission body. A control device
has an electronic controller configured to control the motor and
drive the transmission body with the motor upon determining the
derailleur has been actuated to change the transmission ratio and a
predetermined condition related to pedaling is satisfied, and
control the motor to increase a rotational speed of the motor as a
difference of a first rotational speed, which is calculated in
correspondence with a rotational speed of the wheel and the
transmission ratio, and a predetermined rotational speed or a
rotational speed in a predetermined range increases.
Inventors: |
SHAHANA; Satoshi; (Osaka,
JP) ; SHIMAZU; Hayato; (Osaka, JP) ; KAWASAKI;
Mitsuhiko; (Osaka, JP) ; EMURA; Atsuhiro;
(Osaka, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Shimano Inc. |
Osaka |
|
JP |
|
|
Family ID: |
1000005313829 |
Appl. No.: |
17/120730 |
Filed: |
December 14, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B62M 9/122 20130101;
B62M 6/45 20130101 |
International
Class: |
B62M 6/45 20060101
B62M006/45; B62M 9/122 20060101 B62M009/122 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 18, 2019 |
JP |
2019-228121 |
Oct 30, 2020 |
JP |
2020-183008 |
Claims
1. A control device for a human-powered vehicle including a crank
axle, a first rotational body connected to the crank axle, a wheel,
a second rotational body connected to the wheel, a transmission
body engaged with the first rotational body and the second
rotational body to transmit driving force between the first
rotational body and the second rotational body, a derailleur
configured to operate the transmission body to change a
transmission ratio of a rotational speed of the wheel to a
rotational speed of the crank axle, and a motor configured to drive
the transmission body, the control device comprising: an electronic
controller configured to control the motor and drive the
transmission body with the motor so as to increase a rotational
speed of the motor as a difference of a first rotational speed,
which is calculated in correspondence with a rotational speed of
the wheel and the transmission ratio, and a predetermined
rotational speed or a rotational speed in a predetermined range
increases upon determining the derailleur has been actuated to
change the transmission ratio and a predetermined condition related
to pedaling is satisfied.
2. The control device according to claim 1, wherein the first
rotational speed, the predetermined rotational speed, and the
rotational speed in the predetermined range correspond to a
rotational speed of the crank axle.
3. The control device according to claim 2, wherein the
predetermined rotational speed and the rotational speed in the
predetermined range are 50 rpm or greater and 80 rpm or less.
4. The control device according to claim 1, wherein the electronic
controller is configured to control the motor so as not to drive
the transmission body upon determining a first operating device of
the human-powered vehicle has been operated to prevent actuation of
the derailleur to change the transmission ratio and the
predetermined condition related to pedaling is satisfied.
5. The control device according to claim 1, wherein the electronic
controller is configured to be switchable between a first mode and
a second mode; the electronic controller is configured to control
the motor in the first mode so as to drive the transmission body in
correspondence with a state of the human-powered vehicle upon
determining a second operating device of the human-powered vehicle
has been operated to actuate the derailleur and the predetermined
condition related to pedaling is satisfied; and the electronic
controller is configured to control the motor in the second mode so
as not to drive the transmission body even upon determining the
second operating device has been operated and the predetermined
condition related to pedaling is satisfied.
6. The control device according to claim 1, wherein the electronic
controller is configured to control the motor so as to stop driving
the transmission body with the motor in correspondence with a load
on the motor upon determining the derailleur has been actuated to
change the transmission ratio and the predetermined condition
related to pedaling is satisfied.
7. The control device according to claim 6, further comprising a
first detector configured to detect the load on the motor, the
electronic controller being configured to control the motor and
stop the motor if the derailleur is actuated to change the
transmission ratio upon determining the predetermined condition
related to pedaling is satisfied and the load on the motor is
greater than or equal to a predetermined load.
8. The control device according to claim 1, wherein the electronic
controller is configured to control the motor so as to stop driving
the transmission body upon determining either a vehicle speed is
less than or equal to a first speed or the rotational speed of the
wheel is less than or equal to a predetermined rotational speed,
and upon determining the predetermined condition related to
pedaling is satisfied.
9. The control device according to claim 1, wherein the electronic
controller is configured to control an electric actuator of the
human-powered vehicle to operate the derailleur.
10. The control device according to claim 9, wherein the electronic
controller is configured to be switchable between a first shifting
mode, in which the electronic controller controls the electric
actuator in accordance with a state of the human-powered vehicle,
and a second shifting mode, in which the electronic controller
controls the electric actuator in accordance with operation of a
transmission operating device provided on the human-powered
vehicle, the electronic controller is configured to be switchable
between a third mode and a fourth mode in the first shifting mode,
in the third mode, the electronic controller is configured to
control the motor and drive the transmission body in accordance
with the state of the human-powered vehicle upon determining the
derailleur has been actuated to change the transmission ratio and
the predetermined condition related to pedaling is satisfied, and
in the fourth mode, the electronic controller is configured to
control the motor so as not to drive the transmission body even
upon determining the derailleur has been actuated to change the
transmission ratio and the predetermined condition related to
pedaling is satisfied.
11. The control device according to claim 9, wherein the electronic
controller is configured to control the motor and the electric
actuator so that relative movement of the derailleur and at least
one of the first rotational body and the second rotational body is
started simultaneously as the motor is driven or before the motor
is driven upon determining the electric actuator and the motor are
controlled to change the transmission ratio and a predetermined
condition related to pedaling is satisfied.
12. The control device according to claim 9, wherein the electronic
controller is configured to control the motor and drive the
transmission body with the motor upon determining the derailleur
has been actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied; the
electronic controller is configured to control the electric
actuator so that a shift stage of the derailleur approaches a
predetermined shift stage or the transmission ratio approaches a
predetermined transmission ratio upon determining the human-powered
vehicle is decelerated; the electronic controller is configured to
control the electric actuator and change the shift stage of the
derailleur one stage at a time upon determining either a difference
of the predetermined shift stage and a present shift stage of the
derailleur or a difference of the predetermined transmission ratio,
and the present transmission ratio is less than or equal to a
predetermined value; and the electronic controller is configured to
control the electric actuator so as to continuously actuate the
derailleur over a plurality of shift stages upon determining either
a difference of the predetermined shift stage and a present shift
stage of the derailleur or a difference of the predetermined
transmission ratio, and the present transmission ratio exceeds the
predetermined value.
13. The control device according to claim 1, wherein the
predetermined condition related to pedaling is satisfied in at
least one of a case where a human driving force input to the crank
axle is less than or equal to a predetermined driving force, a case
where a rotational speed of the crank axle is less than or equal to
a second rotational speed, and a case where the crank axle is
oscillating.
14. The control device according to claim 1, wherein the electronic
controller is configured to control the motor to apply a propulsion
force to the human-powered vehicle in accordance with a human
driving force, and the electronic controller is configured to drive
the transmission body so as not to apply the propulsion force to
the human-powered vehicle upon determining the derailleur has been
actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied.
15. A power transmission system comprising the control device
according to claim 1, the power transmission system further
comprising: a first one-way clutch provided in a first power
transmission path between the crank axle and the first rotational
body and configured to transmit rotational force from the crank
axle to the first rotational body in a first rotational direction
and restrict transmission of rotational force from the first
rotational body to the crank axle in the first rotational
direction.
16. The power transmission system according to claim 15, further
comprising: a second one-way clutch provided in a second power
transmission path between the second rotational body and the wheel
and configured to transmit rotational force from the second
rotational body to the wheel in a second rotational direction
corresponding to the first rotational direction and restrict
transmission of rotational force from the wheel to the second
rotational body in the second rotational direction.
17. A control device for a human-powered vehicle including a crank
axle, a first rotational body connected to the crank axle, a wheel,
a second rotational body connected to the wheel, a transmission
body engaged with the first rotational body and the second
rotational body to transmit driving force between the first
rotational body and the second rotational body, a derailleur
configured to operate the transmission body to change a
transmission ratio of a rotational speed of the wheel to a
rotational speed of the crank axle, and a motor configured to drive
the transmission body, the control device comprising: an electronic
controller configured to control the motor and drive the
transmission body with the motor so as to change at least one of a
rotational angle of the motor and an output torque of the motor in
correspondence with a state of the human-powered vehicle upon
determining the derailleur has been actuated to change the
transmission ratio and a predetermined condition related to
pedaling is satisfied.
18. The control device according to claim 17, wherein the state of
the human-powered vehicle includes the rotational speed of the
wheel and the transmission ratio; and the electronic controller is
configured to control the motor to increase at least one of the
rotational angle of the motor and the output torque as a difference
of a first rotational speed, which is calculated in correspondence
with the rotational speed of the wheel and the transmission ratio,
and a predetermined rotational speed or a rotational speed in a
predetermined range increases.
19. The control device according to claim 17, wherein the state of
the human-powered vehicle includes a change in a vehicle speed of
the human-powered vehicle or a change in the rotational speed of
the wheel; and the electronic controller is configured to control
the motor so as to increase at least one of a rotational angle of
the motor and an output torque as an acceleration or a deceleration
of the human-powered vehicle increases in a traveling direction or
an acceleration or a deceleration of the rotational speed of the
wheel increases in a rotational direction corresponding to the
traveling direction of the human-powered vehicle.
20. A control device for a human-powered vehicle including a crank
axle, a first rotational body connected to the crank axle, a wheel,
a second rotational body connected to the wheel, a transmission
body engaged with the first rotational body and the second
rotational body to transmit driving force between the first
rotational body and the second rotational body, a derailleur
configured to operate the transmission body to change a
transmission ratio of a rotational speed of the wheel to a
rotational speed of the crank axle, and a motor configured to drive
the transmission body, the control device comprising: an electronic
controller configured to control the motor, the electronic
controller being configured to drive the transmission body with the
motor in upon determining the derailleur has been actuated to
change the transmission ratio and a predetermined condition related
to pedaling is satisfied, and the electronic controller being
configured to stop driving the transmission body with the motor in
correspondence with load on the motor.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority to Japanese Patent
Application No. 2019-228121, filed on Dec. 18, 2019, and Japanese
Patent Application No. 2020-183008, filed on Oct. 30, 2020. The
entire disclosures of Japanese Patent Application Nos. 2019-228121
and 2020-183008 are hereby incorporated herein by reference.
BACKGROUND
Technical Field
[0002] The present invention generally relates to a control device
for a human-powered vehicle and a power transmission system.
Background Information
[0003] Japanese Laid-Open Patent Publication No. 2008-222211
(Patent Document 1) discloses an example of a human-powered vehicle
including a derailleur that operates a transmission body to change
the transmission ratio.
SUMMARY
[0004] One object of the present disclosure is to provide a control
device for a human-powered vehicle and a power transmission system
that change the transmission ratio in a preferred manner.
[0005] A control device in accordance with a first aspect of the
present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body to transmit driving
force between the first rotational body and the second rotational
body, a derailleur configured to operate the transmission body to
change a transmission ratio of a rotational speed of the wheel to a
rotational speed of the crank axle, and a motor configured to drive
the transmission body. The control device comprises an electronic
controller configured to control the motor and drive the
transmission body with the motor so as to increase a rotational
speed of the motor as a difference of a first rotational speed,
which is calculated in correspondence with a rotational speed of
the wheel and the transmission ratio, and a predetermined
rotational speed or a rotational speed in a predetermined range
increases upon determining the derailleur has been actuated to
change the transmission ratio and a predetermined condition related
to pedaling is satisfied. The control device in accordance with the
first aspect is configured to control the motor and drive the
transmission body with the motor in a case where the derailleur is
actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied. This changes the
transmission ratio in a preferred manner. The control device in
accordance with the first aspect is configured to control the motor
and drive the transmission body so as to increase the rotational
speed of the motor as the difference of the first rotational speed,
which is calculated in correspondence with the rotational speed of
the wheel and the transmission ratio, and the predetermined
rotational speed or the rotational speed in the predetermined range
increases. This changes the transmission ratio in a preferred
manner.
[0006] In accordance with a second aspect of the present
disclosure, the control device according to the first aspect is
configured so that the first rotational speed, the predetermined
rotational speed, and the rotational speed in the predetermined
range correspond to a rotational speed of the crank axle. With the
control device according to the second aspect, the motor is
controlled in correspondence with the rotational speed of the crank
axle in a preferred manner.
[0007] In accordance with a third aspect of the present disclosure,
the control device according to the second aspect is configured so
that the predetermined rotational speed and the rotational speed in
the predetermined range are 50 rpm or greater and 80 rpm or less.
The control device according to the third aspect allows the user to
easily maintain the rotational speed of the crank axle at a
rotational speed of 50 rpm or greater and 80 rpm or less.
[0008] In accordance with a fourth aspect of the present
disclosure, the control device according to any one of the first to
third aspects is configured so that the human-powered vehicle
further includes a first operating device. The electronic
controller is configured to control the motor so as not to drive
the transmission body upon determining a first operating device of
the human-powered vehicle has been operated to prevent actuation of
the derailleur to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. The
control device in accordance with the fourth aspect is configured
to control the motor so as not to drive the transmission body if
the operating device is operated even in a case where the
derailleur is actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. This
reduces the frequency of driving the motor.
[0009] In accordance with a fifth aspect of the present disclosure,
the control device according to the fourth aspect is configured so
that the electronic controller is configured to be switchable
between a first mode and a second mode. The electronic controller
is configured to control the motor in the first mode so as to drive
the transmission body in correspondence with a state of the
human-powered vehicle upon determining a second operating device of
the human-powered vehicle has been operated to actuate the
derailleur and the predetermined condition related to pedaling is
satisfied. The electronic controller is configured to control the
motor in the second mode so as not to drive the transmission body
even upon determining the second operating device has been operated
and the predetermined condition related to pedaling is satisfied.
The control device in accordance with the fifth aspect allows the
user to switch between the first mode and the second mode to select
whether the transmission body is driven by the motor to perform
shifting.
[0010] In accordance with a sixth aspect of the present disclosure,
in the control device according to any one of the first to fifth
aspects, the electronic controller is configured to control the
motor so as to stop driving the transmission body with the motor in
correspondence with a load on the motor upon determining the
derailleur has been actuated to change the transmission ratio and
the predetermined condition related to pedaling is satisfied. The
control device in accordance with the sixth aspect controls the
motor and stops driving the transmission body with the motor in
correspondence with the load on the motor in a case where the
derailleur is actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. The
control device in accordance with the sixth aspect avoids
propelling the human-powered vehicle with only the motor.
[0011] In accordance with a seventh aspect of the present
disclosure, the control device according to the sixth aspect
further comprises a first detector configured to detect the load on
the motor. The electronic controller is configured to control the
motor and stop the motor if the derailleur is actuated to change
the transmission ratio upon determining the predetermined condition
related to pedaling is satisfied and the load on the motor is
greater than or equal to a predetermined load. The control device
in accordance with the seventh aspect controls the motor and stops
the motor if the derailleur is actuated to change the transmission
ratio in a case where the predetermined condition related to
pedaling is satisfied and the load on the motor is greater than or
equal to the predetermined load. The control device in accordance
with the seventh aspect avoids propelling the human-powered vehicle
with only the motor.
[0012] In accordance with an eighth aspect of the present
disclosure, in the control device according to any one of the first
to seventh aspects, the electronic controller is configured to
control the motor so as to stop driving the transmission body upon
determining a vehicle speed of the human-powered vehicle is less
than or equal to a first speed or the rotational speed of the wheel
is less than or equal to a predetermined rotational speed, and upon
determining the predetermined condition related to pedaling is
satisfied. The control device in accordance with the eighth aspect
controls the motor so as to stop driving the transmission body if
the vehicle speed of the human-powered vehicle is less than or
equal to the first speed or the rotational speed of the wheel is
less than or equal to the predetermined rotational speed in a case
where the derailleur is actuated to change the transmission ratio
and the predetermined condition related to pedaling is satisfied.
The control device in accordance with the eighth aspect restricts
shifting in a case where the vehicle speed of the human-powered
vehicle is low.
[0013] In accordance with a ninth aspect of the present disclosure,
the control device according to any one of the first to eighth
aspects is configured so that the electronic controller is
configured to control an electric actuator of the human-powered
vehicle to operate the derailleur. The control device in accordance
with the ninth aspect controls the electric actuator to operate the
derailleur.
[0014] In accordance with a tenth aspect of the present disclosure,
in the control device according to the ninth aspect, the electronic
controller is configured to be switchable between a first shifting
mode, in which the electronic controller controls the electric
actuator in accordance with a state of the human-powered vehicle,
and a second shifting mode, in which the electronic controller
controls the electric actuator in accordance with operation of a
transmission operating device provided on the human-powered
vehicle. The electronic controller is configured to be switchable
between a third mode and a fourth mode in the first shifting mode.
In the third mode, the electronic controller is configured to
control the motor and drive the transmission body in accordance
with the state of the human-powered vehicle upon determining the
derailleur has been actuated to change the transmission ratio and
the predetermined condition related to pedaling is satisfied. In
the fourth mode, the electronic controller is configured to control
the motor so as not to drive the transmission body even in upon
determining the derailleur has been actuated to change the
transmission ratio and the predetermined condition related to
pedaling is satisfied. With the control device in accordance with
the tenth aspect, in the first shifting mode, the user can switch
between the third mode in which the transmission body is
automatically driven and the fourth mode in which the transmission
body is driven by the user.
[0015] In accordance with an eleventh aspect of the present
disclosure, in the control device according to the ninth aspect,
the electronic controller is configured to control the motor and
the electric actuator so that relative movement of the derailleur
and at least one of the first rotational body and the second
rotational body is started simultaneously as the motor is driven or
before the motor is driven upon determining the electric actuator
and the motor are controlled to change the transmission ratio and a
predetermined condition related to pedaling is satisfied. The
control device in accordance with the eleventh aspect controls the
motor and the electric actuator so that relative movement of the
derailleur and at least one of the first rotational body and the
second rotational body is started simultaneously as the motor is
driven or before the motor is driven. This changes the transmission
ratio in a preferred manner.
[0016] In accordance with a twelfth aspect of the present
disclosure, in the control device according to the ninth aspect,
the controller is configured to control the motor and drive the
transmission body with the motor upon determining the derailleur
has been actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. The
controller is configured to control the electric actuator so that a
shift stage of the derailleur approaches a predetermined shift
stage or the transmission ratio approaches a predetermined
transmission ratio upon determining the human-powered vehicle is
decelerated. The controller is configured to control the electric
actuator and change the shift stage of the derailleur one stage at
a time upon determining either a difference of the predetermined
shift stage and a present shift stage of the derailleur or a
difference of the predetermined transmission ratio, and the present
transmission ratio is less than or equal to a predetermined value.
The controller is configured to control the electric actuator so as
to continuously actuate the derailleur over a plurality of shift
stages upon determining either a difference of the predetermined
shift stage and a present shift stage of the derailleur or a
difference of the predetermined transmission ratio, and the present
transmission ratio exceeds the predetermined value. The control
device in accordance with the twelfth aspect controls the electric
actuator so as to continuously actuate the derailleur over a
plurality of shift stages in a case where the difference of the
predetermined shift stage and the present shift stage of the
derailleur or the difference of the predetermined transmission
ratio and the present transmission ratio exceeds the predetermined
value. The control device in accordance with the twelfth aspect
reduces the time for changing the present shift stage to a
preferred shift stage or the time for changing the present
transmission ratio to a preferred transmission ratio.
[0017] In accordance with a thirteenth aspect of the present
disclosure, in the control device according to any one of the first
to twelfth aspects, the predetermined condition related to pedaling
is satisfied in at least one of a case where a human driving force
input to the crank axle is less than or equal to a predetermined
driving force, a case where a rotational speed of the crank axle is
less than or equal to a second rotational speed, and a case where
the crank axle is oscillating. The control device in accordance
with the thirteenth aspect drives the motor in at least one of a
case where human driving force input to the crank axle is less than
or equal to the predetermined driving force, a case where the
rotational speed of the crank axle is less than or equal to the
second rotational speed, and a case where the crank axle is
oscillating. This changes the transmission ratio in a preferred
manner.
[0018] In accordance with a fourteenth aspect of the present
disclosure, in the control device according to any one of the first
to thirteenth aspects, the electronic controller is configured to
control the motor to apply a propulsion force to the human-powered
vehicle in accordance with a human driving force, and the
electronic controller is configured to drive the transmission body
so as not to apply the propulsion force to the human-powered
vehicle upon determining the derailleur has been actuated to change
the transmission ratio and the predetermined condition related to
pedaling is satisfied. The control device in accordance with the
fourteenth aspect controls the motor and drives the transmission
body so as not to apply the propulsion force to the human-powered
vehicle in a case where the derailleur is actuated to change the
transmission ratio and the predetermined condition related to
pedaling is satisfied. The control device in accordance with the
fourteenth aspect reduces the power consumption of the motor.
[0019] A power transmission system in accordance with a fifteenth
aspect of the present disclosure is for a human-powered vehicle.
The power transmission system comprises the control device
according to any one of the first to fourteenth aspects and a first
one-way clutch provided in a first power transmission path between
the crank axle and the first rotational body and configured to
transmit rotational force from the crank axle to the first
rotational body in a first rotational direction and restrict
transmission of rotational force from the first rotational body to
the crank axle in the first rotational direction. The power
transmission system in accordance with the fifteenth aspect changes
the transmission ratio in a preferred manner. The power
transmission system in accordance with the fifteenth aspect
restricts transmission of rotational force of the first rotational
body to the crank axle with the first one-way clutch in a case
where the first rotational body is rotated by the motor. This
changes the transmission ratio in a preferred manner in a case
where the motor is driven to change the transmission ratio.
[0020] In accordance with a sixteenth aspect of the present
disclosure, the power transmission system according to the
fifteenth aspect further comprises a second one-way clutch provided
in a second power transmission path between the second rotational
body and the wheel and configured to transmit rotational force from
the second rotational body to the wheel in a second rotational
direction corresponding to the first rotational direction and
restrict transmission of rotational force from the wheel to the
second rotational body in the second rotational direction. In the
power transmission system in accordance with the sixteenth aspect,
the second one-way clutch allows relative rotation of the second
rotational body and the wheel. This changes the transmission ratio
in a preferred manner in a case where the motor is driven to change
the transmission ratio.
[0021] A control device in accordance with a seventeenth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, and a
motor configured to drive the transmission body. The control device
comprises an electronic controller configured to control the motor
and drive the transmission body with the motor so as to change at
least one of a rotational angle of the motor and an output torque
of the motor in correspondence with a state of the human-powered
vehicle upon determining the derailleur has been actuated to change
the transmission ratio and a predetermined condition related to
pedaling is satisfied. The control device in accordance with the
seventeenth aspect is configured to control the motor and drive the
transmission body with the motor in a case where the derailleur is
actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied. This changes the
transmission ratio in a preferred manner. The control device in
accordance with the seventeenth aspect is configured to control the
motor and drive the transmission body with the motor to change at
least one of the rotational angle of the motor and the output
torque of the motor in correspondence with the state of the
human-powered vehicle. This changes the transmission ratio in a
preferred manner.
[0022] In accordance with an eighteenth aspect of the present
disclosure, the control device according to the seventeenth aspect
is configured so that the state of the human-powered vehicle
includes the rotational speed of the wheel and the transmission
ratio. The electronic controller is configured to control the motor
so as to increase at least one of the rotational angle of the motor
and the output torque as a difference of a first rotational speed,
which is calculated in correspondence with the rotational speed of
the wheel and the transmission ratio, and a predetermined
rotational speed or a rotational speed in a predetermined range
increases. The control device in accordance with the eighteenth
aspect is configured to control the motor so as to increase the
rotational speed of the motor as the difference of the first
rotational speed, which is calculated in correspondence with the
rotational speed of the wheel and the transmission ratio, and the
predetermined rotational speed or the rotational speed in the
predetermined range increases. This changes the transmission ratio
in a preferred manner.
[0023] In accordance with a nineteenth aspect of the present
disclosure, the control device according to the seventeenth or
eighteenth aspect is configured so that the state of the
human-powered vehicle includes a change in a vehicle speed of the
human-powered vehicle or a change in the rotational speed of the
wheel. The electronic controller is configured to control the motor
so as to increase at least one of a rotational angle of the motor
and an output torque as an acceleration or a deceleration of the
human-powered vehicle increases in a traveling direction or an
acceleration or a deceleration of the rotational speed of the wheel
increases in a rotational direction corresponding to the traveling
direction of the human-powered vehicle. The control device in
accordance with the nineteenth aspect is configured to control the
motor so as to increase at least one of the rotational angle of the
motor and the output torque as the acceleration or deceleration of
the human-powered vehicle increases in the traveling direction or
the acceleration or deceleration of the rotational speed of the
wheel increases in the rotational direction corresponding to the
traveling direction of the human-powered vehicle. This changes the
transmission ratio in a preferred manner.
[0024] A control device in accordance with a twentieth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, and a
motor configured to drive the transmission body. The control device
comprises an electronic controller configured to control the motor.
The electronic controller is configured to drive the transmission
body with the motor in a case where the derailleur is actuated to
change the transmission ratio and a predetermined condition related
to pedaling is satisfied. The electronic controller is configured
to stop driving the transmission body with the motor in
correspondence with load on the motor. The control device in
accordance with the twentieth aspect is configured to control the
motor and drive the transmission body with the motor upon
determining the derailleur has been actuated to change the
transmission ratio and the predetermined condition related to
pedaling is satisfied. This changes the transmission ratio in a
preferred manner. The control device in accordance with the
twentieth aspect controls the motor and stops driving the
transmission body with the motor in correspondence with the load on
the motor in a case where the derailleur is actuated to change the
transmission ratio and the predetermined condition related to
pedaling is satisfied.
[0025] A control device in accordance with a twenty-first aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, and a
motor configured to drive the transmission body. The control device
comprises an electronic controller configured to control the motor
and drive the transmission body with the motor so as to change a
rotational speed of the motor in correspondence with acceleration
of the human-powered vehicle in a traveling direction and increase
the rotational speed of the motor as the acceleration of the
human-powered vehicle increases upon determining the derailleur has
been actuated to change the transmission ratio and a predetermined
condition related to pedaling is satisfied. The control device in
accordance with the twenty-first aspect is configured to control
the motor and drive the transmission body with the motor in a case
where the derailleur is actuated to change the transmission ratio
and the predetermined condition related to pedaling is satisfied.
This changes the transmission ratio in a preferred manner. The
control device in accordance with the twenty-first aspect is
configured to control the motor and drive the transmission body
with the motor to increase the rotational speed of the motor as the
acceleration of the human-powered vehicle increases. This changes
the transmission ratio in a preferred manner.
[0026] A control device in accordance with a twenty-second aspect
of the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, a motor
configured to drive the transmission body, and a first operating
device. The control device comprises an electronic controller
configured to control the motor and drive the transmission body
with the motor upon determining the derailleur has been actuated to
change the transmission ratio and a predetermined condition related
to pedaling is satisfied. The electronic controller is configured
to control the motor so as not to drive the transmission body if
the first operating device is operated even upon determining the
derailleur has been actuated to change the transmission ratio and
the predetermined condition related to pedaling is satisfied. The
control device in accordance with the twenty-second aspect is
configured to control the motor and drive the transmission body
with the motor upon determining the derailleur has been actuated to
change the transmission ratio and the predetermined condition
related to pedaling is satisfied. This changes the transmission
ratio in a preferred manner. The control device in accordance with
the twenty-second aspect is configured to control the motor so as
not to drive the transmission body if the first operating device is
operated even upon determining the derailleur has been actuated to
change the transmission ratio and the predetermined condition
related to pedaling is satisfied. This allows the user to select
whether to drive the transmission body with the motor to perform
shifting.
[0027] In accordance with a twenty-third aspect of the present
disclosure, in the control device according to the twenty-second
aspect, the electronic controller is configured to control the
motor so as not to drive the transmission body during at least one
of a period during which the first operating device is being
operated and a predetermined period after the first operating
device is operated even upon determining the derailleur has been
actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied. The control device in
accordance with the twenty-third aspect controls the motor so as
not to drive the transmission body during at least one of the
period during which the first operating device is being operated
and the predetermined period after the first operating device is
operated even upon determining the derailleur has been actuated to
change the transmission ratio and the predetermined condition
related to pedaling is satisfied. With the control device in
accordance with the twenty-third aspect, in a case where the user
wants to reduce changes in the transmission ratio, changes in the
transmission ratio are easily reduced by operating the first
operating device.
[0028] In accordance with a twenty-fourth aspect of the present
disclosure, in the control device according to the twenty-second or
twenty-third aspect, the electronic controller is configured to
control the motor so as not to drive the transmission body if a
first operating portion included in the first operating device is
operated or a predetermined operation is performed on the first
operating portion even upon determining the derailleur has been
actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied. The control device in
accordance with the twenty-fourth aspect controls the motor so as
not to drive the transmission body if the first operating portion
of the first operating device is operated or the predetermined
operation is performed on the first operating portion even upon
determining the derailleur has been actuated to change the
transmission ratio and the predetermined condition related to
pedaling is satisfied. With the control device in accordance with
the twenty-fourth aspect, in a case where the user wants to reduce
changes in the transmission ratio, changes in the transmission
ratio are easily reduced by operating the first operating
device.
[0029] A control device in accordance with a twenty-fifth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, and a
motor configured to drive the transmission body. The control device
comprises an electronic controller configured to control the motor
to drive the transmission body with the motor upon determining the
derailleur has been actuated to change the transmission ratio and a
predetermined condition related to pedaling is satisfied, and is
configured to control the motor so as to stop driving the
transmission body upon determining a vehicle speed of the
human-powered vehicle is less than or equal to a first speed or a
rotational speed of the wheel is less than or equal to
predetermined rotational speed. The control device in accordance
with the twenty-fifth aspect is configured to control the motor and
drive the transmission body with the motor in a case where the
derailleur is actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. This
changes the transmission ratio in a preferred manner. The control
device in accordance with the twenty-fifth aspect controls the
motor to stop driving the transmission body in a case where the
vehicle speed of the human-powered vehicle is less than or equal to
the first speed or the rotational speed of the wheel is less than
or equal to the predetermined rotational speed. The control device
in accordance with the twenty-fifth aspect restricts shifting in a
case where the vehicle speed of the human-powered vehicle is
low.
[0030] In accordance with a twenty-sixth aspect of the present
disclosure, in the control device according to the twenty-fifth
aspect, the electronic controller is configured to control the
electric actuator and drive the transmission body with the motor so
that the transmission ratio is changed only in one of an increasing
direction and a decreasing direction upon determining the
derailleur has been actuated to change the transmission ratio and a
predetermined condition related to pedaling is satisfied. With the
control device in accordance with the twenty-sixth aspect, the
transmission ratio is changed only in one of an increasing
direction and a decreasing direction in a case where the
predetermined condition related to pedaling is satisfied. This
reduces the processing load on the electronic controller.
[0031] A control device in accordance with a twenty-seventh aspect
of the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, a motor
configured to drive the transmission body, and an electric actuator
configured to operate the derailleur. The control device comprises
an electronic controller configured to control the electric
actuator and the motor. The electronic controller is configured to
control the electric actuator and drive the transmission body with
the motor so that the transmission ratio is changed only in one of
an increasing direction and a decreasing direction upon determining
the derailleur has been actuated to change the transmission ratio
and a predetermined condition related to pedaling is satisfied. The
control device in accordance with the twenty-seventh aspect is
configured to control the motor and drive the transmission body
with the motor in a case where the derailleur is actuated to change
the transmission ratio and the predetermined condition related to
pedaling is satisfied. This changes the transmission ratio in a
preferred manner. Further, with the control device in accordance
with the twenty-seventh aspect, the transmission ratio is changed
only in one of the increasing direction and the decreasing
direction in a case where the predetermined condition related to
pedaling is satisfied. This reduces the processing load on the
electronic controller.
[0032] In accordance with a twenty-eight aspect of the present
disclosure, in the control device according to the twenty-sixth or
twenty-seventh aspect, the electronic controller is configured to
control the electric actuator and drive the transmission body with
the motor so that the transmission ratio is changed in a
predetermined shifting range upon determining the derailleur has
been actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. With the
control device in accordance with the twenty-eight aspect, the
transmission ratio is changed in a suitable shifting range in a
case where the predetermined condition related to pedaling is
satisfied.
[0033] A control device in accordance with a twenty-ninth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, a motor
configured to drive the transmission body, and an electric actuator
configured to operate the derailleur. The control device comprises
an electronic controller configured to control the electric
actuator and the motor. The electronic controller is configured to
control the electric actuator and drive the transmission body with
the motor so that the transmission ratio is changed in a
predetermined shifting range upon determining the derailleur has
been actuated to change the transmission ratio and a predetermined
condition related to pedaling is satisfied. The control device in
accordance with the twenty-ninth aspect is configured to control
the motor and drive the transmission body with the motor in a case
where the derailleur is actuated to change the transmission ratio
and the predetermined condition related to pedaling is satisfied.
This changes the transmission ratio in a preferred manner. With the
control device in accordance with the twenty-ninth aspect, the
transmission ratio is changed in a suitable shifting range in a
case where the predetermined condition related to pedaling is
satisfied.
[0034] In accordance with a thirtieth aspect of the present
disclosure, the control device according to the twenty-eight or
twenty-ninth aspect is configured so that the predetermined
shifting range includes a range that is less than or equal to a
predetermined third transmission ratio, and the predetermined third
transmission ratio is less than a maximum one of the transmission
ratio that is changeable by the derailleur. The control device in
accordance with the thirtieth aspect reduces changes of the
transmission ratio to the maximum one of the transmission ratio,
which is changeable by the derailleur, in a case where the
predetermined condition related to pedaling is satisfied. This
limits excessive increases in the burden on the user.
[0035] In accordance with a thirty-first aspect of the present
disclosure, in the control device according to the twenty-sixth
aspect, the electronic controller is configured to control the
electric actuator and drive the transmission body with the motor so
that the transmission ratio is changed in a predetermined shifting
range in at least one of a case where the derailleur is actuated to
change the transmission ratio, the predetermined condition related
to pedaling is satisfied, and a road on which the human-powered
vehicle travels changes from an uphill to a downhill, and a case
where the derailleur is actuated to change the transmission ratio,
the predetermined condition related to pedaling is satisfied, and a
vehicle speed of the human-powered vehicle changes from an
increasing state to a decreasing state. With the control device in
accordance with the thirty-first aspect, the transmission ratio is
suitably changed in at least one of a case where the road on which
the human-powered vehicle travels changes from an uphill to a
downhill and a case where the vehicle speed of the human-powered
vehicle changes from an increasing state to a decreasing state.
[0036] In accordance with a thirty-second aspect of the present
disclosure, the control device according to any one of the
twenty-eight to thirty-first aspects is configured so that the
predetermined shifting range includes a range that is greater than
or equal to a predetermined fourth transmission ratio, and the
predetermined fourth transmission ratio is greater than a minimum
one of the transmission ratio that is changeable by the derailleur.
The control device in accordance with the thirty-second aspect
reduces changes of the transmission ratio to the minimum one of the
transmission ratio, which is changeable by the derailleur, in a
case where the predetermined condition related to pedaling is
satisfied. This limits excessive increases in the rotational speed
of the crank, which is rotated by the user.
[0037] In accordance with a thirty-third aspect of the present
disclosure, in the control device according to the thirty-second
aspect, the electronic controller is configured to control the
electric actuator and drive the transmission body with the motor so
that the transmission ratio is changed in the predetermined
shifting range in at least one of a case where the derailleur is
actuated to change the transmission ratio, the predetermined
condition related to pedaling is satisfied, and a vehicle speed of
the human-powered vehicle is less than or equal to a sixth speed,
and a case where the derailleur is actuated to change the
transmission ratio, the predetermined condition related to pedaling
is satisfied, and the rotational speed of the crank axle of the
human-powered vehicle is less than or equal to a third rotational
speed. With the control device in accordance with the thirty-third
aspect, the transmission ratio is suitably changed in at least one
of a case where the vehicle speed of the human-powered vehicle is
less than or equal to the sixth speed, and a case where the
rotational speed of the crank axle of the human-powered vehicle is
less than or equal to the third rotational speed.
[0038] A control device in accordance with a thirty-fourth aspect
of the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, a motor
configured to drive the transmission body, and an electric actuator
configured to operate the derailleur. The control device comprises
an electronic controller configured to control the electric
actuator and the motor. The electronic controller is configured to
be switchable between a first shifting mode, in which the
electronic controller controls the electric actuator in accordance
with a state of the human-powered vehicle, and a second shifting
mode, in which the electronic controller controls the electric
actuator in accordance with operation of a transmission operating
device provided on the human-powered vehicle. The electronic
controller is configured to be switchable between a third mode and
a fourth mode in the first shifting mode. In the third mode, the
electronic controller is configured to control the motor and drive
the transmission body in accordance with the state of the
human-powered vehicle upon determining the derailleur has been
actuated to change the transmission ratio and a predetermined
condition related to pedaling is satisfied. In the fourth mode, the
electronic controller is configured to control the motor so as not
to drive the transmission body even upon determining the derailleur
has been actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. The
control device in accordance with the thirty-fourth aspect is
configured to control the motor and drive the transmission body
with the motor in a case where the derailleur is actuated to change
the transmission ratio and the predetermined condition related to
pedaling is satisfied. This changes the transmission ratio in a
preferred manner. The control device in accordance with the
thirty-fourth aspect allows the user in the first shifting mode to
switch between the third mode in which the transmission body is
automatically driven and the fourth mode in which the transmission
body is driven by the user.
[0039] A control device in accordance with a thirty-fifth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, an
electric actuator configured to operate the derailleur, and a motor
configured to drive the transmission body. The control device
comprises an electronic controller configured to control the
electric actuator and the motor so that a first rotational speed
calculated in correspondence with the rotational speed of the wheel
and the transmission ratio is included in a predetermined range.
The electronic controller is configured to drive the transmission
body with the motor upon determining the derailleur has been
actuated to change the transmission ratio and a predetermined
condition related to pedaling is satisfied. The electronic
controller is configured to control the electric actuator so that
among a plurality of shift stages of the derailleur, the
transmission ratio is set to be in the largest shift stage upon
determining the first rotational speed is included in the
predetermined range. The control device in accordance with the
thirty-fifth aspect is configured to control the motor and drive
the transmission body with the motor in a case where the derailleur
is actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied. This changes the
transmission ratio in a preferred manner. The control device in
accordance with the thirty-fifth aspect controls the electric
actuator so that among a plurality of shift stages of the
derailleur, the transmission ratio is set to be in the largest
shift stage in a case where the first rotational speed is included
in the predetermined range. The control device in accordance with
the thirty-fifth aspect optimally changes the shift stage in
accordance with the vehicle speed of the human-powered vehicle.
[0040] In accordance with a thirty-sixth aspect of the present
disclosure, in the control device according to any one of the
twenty-sixth to thirty-fifth aspects, the electronic controller is
configured to control the motor and drive the transmission body
with the motor upon determining the derailleur has been actuated to
change the transmission ratio and the predetermined condition
related to pedaling is satisfied. The electronic controller is
configured to control the electric actuator so that the
transmission ratio does not increase upon determining a vehicle
speed of the human-powered vehicle is greater than or equal to a
second speed or the rotational speed of the wheel is greater than
or equal to a predetermined rotational speed. The control device in
accordance with the thirty-sixth aspect restricts an increase in
the transmission ratio in a case where the vehicle speed of the
human-powered vehicle is greater than or equal to the second speed
or the rotational speed of the wheel is greater than or equal to
the predetermined rotational speed. The control device in
accordance with the thirty-sixth aspect limits excessive increases
in the vehicle speed of the human-powered vehicle.
[0041] A control device in accordance with a thirty-seventh--first
aspect of the present disclosure is for a human-powered vehicle.
The human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, an
electric actuator configured to operate the derailleur, and a motor
configured to drive the transmission body. The control device
comprises an electronic controller configured to control the
electric actuator and the motor. The electronic controller is
configured to control the motor and drive the transmission body
with the motor upon determining the derailleur has been actuated to
change the transmission ratio and a predetermined condition related
to pedaling is satisfied. The electronic controller is configured
to control the electric actuator so that the transmission ratio
does not increase upon determining a vehicle speed of the
human-powered vehicle is greater than or equal to a second speed or
the rotational speed of the wheel is greater than or equal to a
predetermined rotational speed. The control device in accordance
with the thirty-seventh aspect is configured to control the motor
and drive the transmission body with the motor in a case where the
derailleur is actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. This
changes the transmission ratio in a preferred manner. The control
device in accordance with the thirty-seventh aspect restricts an
increase in the transmission ratio in a case where the vehicle
speed of the human-powered vehicle is greater than or equal to the
second speed or the rotational speed of the wheel is greater than
or equal to the predetermined rotational speed. The control device
in accordance with the thirty-seventh aspect limits excessive
increases in the vehicle speed of the human-powered vehicle.
[0042] In accordance with a thirty-eighth aspect of the present
disclosure, in the control device according to any one of the
thirty-fifth to thirty-seventh aspects, the electronic controller
is configured to control the electric actuator so as not to change
the transmission ratio until a first condition related to shifting
is satisfied upon determining the derailleur has been actuated. The
control device in accordance with the thirty-eighth aspect controls
the electric actuator so as not to change the transmission ratio
until the first condition related to shifting is satisfied in a
case where the derailleur is actuated. The control device in
accordance with the thirty-eighth aspect restricts continuous
actuation of the derailleur.
[0043] A control device in accordance with a thirty-ninth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, an
electric actuator configured to actuate the derailleur, and a motor
configured to drive the transmission body. The control device
comprises an electronic controller configured to control the motor
and the electric actuator. The electronic controller is configured
to control the motor and drive the transmission body upon
determining the derailleur has been actuated with the electric
actuator to change the transmission ratio and a predetermined
condition related to pedaling is satisfied. The electronic
controller is configured to control the electric actuator so as not
to change the transmission ratio until a first condition related to
shifting is satisfied upon determining the derailleur has been
actuated. The control device in accordance with the thirty-ninth
aspect is configured to control the motor and drive the
transmission body with the motor in a case where the derailleur is
actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied. This changes the
transmission ratio in a preferred manner. The control device in
accordance with the thirty-ninth aspect controls the electric
actuator so as not to change the transmission ratio until the first
condition related to shifting is satisfied in a case where the
vehicle speed of the human-powered vehicle is greater than or equal
to the second speed or the rotational speed of the wheel is greater
than or equal to the predetermined rotational speed. The control
device in accordance with the thirty-ninth aspect restricts
continuous actuation of the derailleur in a case where the vehicle
speed of the human-powered vehicle is greater than or equal to the
second speed or the rotational speed of the wheel is greater than
or equal to the predetermined rotational speed.
[0044] In accordance with a fortieth aspect of the present
disclosure, the control device according to the thirty-eighth or
thirty-ninth aspect is configured so that the human-powered vehicle
further includes a second operating device configured to operate
the derailleur. The first condition related to shifting is
satisfied in at least one of a case where a predetermined first
time elapses from a time of operating the second operating device,
a case where a predetermined second time elapses from a time of
stopping the electric actuator, a case where an inclination angle
of the human-powered vehicle becomes greater than or equal to a
first angle, and a case where a vehicle speed of the human-powered
vehicle becomes greater than or equal to a predetermined third
speed. The control device in accordance with the fortieth aspect
controls the electric actuator so as not to change the transmission
ratio in at least one of a case where the predetermined first time
elapses from the time of operating the second operating device, a
case where the predetermined second time elapses from the time of
stopping the electric actuator, a case where the inclination angle
of the human-powered vehicle becomes greater than or equal to the
first angle, and a case where the vehicle speed of the
human-powered vehicle becomes greater than or equal to the
predetermined third speed.
[0045] In accordance with a forty-first aspect of the present
disclosure, in the control device according to any one of the
twenty-sixth to thirty-ninth aspects, the electronic controller is
configured to control the electric actuator so as not to change the
transmission ratio with the derailleur until a second condition
related to shifting is satisfied upon determining the electric
actuator and the motor are controlled to increase or decrease the
transmission ratio a predetermined number of times or more within a
predetermined third time. The control device in accordance with the
forty-first aspect controls the electric actuator so as not to
change the transmission ratio with the derailleur until the second
condition related to shifting is satisfied in a case where the
electric actuator and the motor are controlled to increase or
decrease the transmission ratio a predetermined number of times or
more within the predetermined third time. The control device in
accordance with the forty-first aspect reduces frequent changes in
the transmission ratio.
[0046] A control device in accordance with a forty-second aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, an
electric actuator configured to actuate the derailleur, and a motor
that drives the transmission body. The control device comprises an
electronic controller configured to control the electric actuator
and the motor. The electronic controller is configured to control
the motor and drive the transmission body upon determining the
derailleur has been actuated with the electric actuator to change
the transmission ratio and a predetermined condition related to
pedaling is satisfied. The electronic controller is configured to
control the electric actuator so as not to change the transmission
ratio with the derailleur until a second condition related to
shifting is satisfied upon determining the electric actuator and
the motor are controlled to increase or decrease the transmission
ratio a predetermined number of times or more within a
predetermined third time. The control device in accordance with the
forty-second aspect is configured to control the motor and drive
the transmission body with the motor in a case where the derailleur
is actuated to change the transmission ratio and the predetermined
condition related to pedaling is satisfied. This changes the
transmission ratio in a preferred manner. The control device in
accordance with the forty-second aspect controls the electric
actuator so as not to change the transmission ratio with the
derailleur until the second condition related to shifting is
satisfied in a case where the electric actuator and the motor are
controlled to increase or decrease the transmission ratio a
predetermined number of times or more within the predetermined
third time. The control device in accordance with the forty-second
aspect reduces frequent changes in the transmission ratio.
[0047] In accordance with a forty-third aspect of the present
disclosure, the control device according to the forty-first or
forty-second aspect is configured so that the second condition
related to shifting is satisfied in at least one of a case where a
predetermined fourth time elapses from a time of stopping the
electric actuator, a case where an inclination angle of the
human-powered vehicle becomes greater than or equal to a second
angle, and a case where a vehicle speed of the human-powered
vehicle becomes greater than or equal to a predetermined fourth
speed. The control device in accordance with the forty-third aspect
controls the electric actuator so as not to change the transmission
ratio with the derailleur until at least one of a case where the
predetermined fourth time elapses from the time of stopping the
electric actuator, a case where the inclination angle of the
human-powered vehicle becomes greater than or equal to the second
angle, and a case where the vehicle speed of the human-powered
vehicle becomes greater than or equal to the predetermined fourth
speed is satisfied.
[0048] A control device in accordance with a forty-fourth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, an
electric actuator configured to actuate the derailleur, and a motor
configured to drive the transmission body. The control device
comprises an electronic controller configured to control the
electric actuator and the motor. The electronic controller is
configured to control the electric actuator and the motor so that
relative movement of the derailleur and at least one of the first
rotational body and the second rotational body is started
simultaneously as the motor is driven or before the motor is driven
upon determining the electric actuator and the motor are controlled
to change the transmission ratio and a predetermined condition
related to pedaling is satisfied. The control device in accordance
with the forty-fourth aspect is configured to control the motor and
drive the transmission body with the motor in a case where the
derailleur is actuated to change the transmission ratio and the
predetermined condition related to pedaling is satisfied. This
changes the transmission ratio in a preferred manner. The control
device in accordance with the forty-fourth aspect controls the
motor and the electric actuator so that relative movement of the
derailleur and at least one of the first rotational body and the
second rotational body is started simultaneously as the motor is
driven or before the motor is driven. This changes the transmission
ratio in a preferred manner.
[0049] In accordance with a forty-fifth aspect of the present
disclosure, in the control device according to the forty-fourth
aspect, the electronic controller is configured to receive a signal
for adjusting a position of the derailleur. The electronic
controller is configured to drive the motor in a case where the
signal is received. The electronic controller is configured to
control the electric actuator so that the position of the
derailleur corresponds to the first transmission ratio upon
determining a first transmission ratio corresponding to a
rotational speed of the motor and a rotational speed of the wheel
does not correspond to the present position of the derailleur. The
control device in accordance with the forty-fifth aspect drives the
motor in a case where the signal for adjusting the position of the
derailleur is received and the first transmission ratio
corresponding to the rotational speed of the motor and the
rotational speed of the wheel does not correspond to the present
position of the derailleur. This changes the transmission ratio in
a preferred manner.
[0050] A control device in accordance with a forty-sixth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, a motor
configured to drive the transmission body, and an electric actuator
configured to operate the derailleur. The control device comprises
an electronic controller configured to control the electric
actuator and the motor. The electronic controller is configured to
control the motor and drive the transmission body with the motor
upon determining the derailleur has been actuated to change the
transmission ratio and a predetermined condition related to
pedaling is satisfied. The electronic controller is configured to
control the electric actuator so that a shift stage of the
derailleur approaches a predetermined shift stage or the
transmission ratio approaches a predetermined transmission ratio
upon determining the human-powered vehicle has decelerated. The
electronic controller is configured to control the electric
actuator and change the shift stage of the derailleur one stage at
a time upon determining a difference of the predetermined shift
stage and a present shift stage of the derailleur or a difference
of the predetermined transmission ratio and the present
transmission ratio is less than or equal to a predetermined value.
The electronic controller is configured to control the electric
actuator so as to continuously actuate the derailleur over a
plurality of shift stages upon determining a difference of the
predetermined shift stage and a present shift stage of the
derailleur or a difference of the predetermined transmission ratio
and the present transmission ratio exceeds the predetermined value.
The control device in accordance with the forty-sixth aspect is
configured to control the motor and drive the transmission body
with the motor in a case where the derailleur is actuated to change
the transmission ratio and the predetermined condition related to
pedaling is satisfied. This changes the transmission ratio in a
preferred manner. The control device in accordance with the
forty-sixth aspect controls the electric actuator so as to
continuously actuate the derailleur over a plurality of shift
stages in a case where the human-powered vehicle is decelerated and
the difference of the predetermined shift stage and the present
shift stage of the derailleur or the difference of the
predetermined transmission ratio and the present transmission ratio
exceeds the predetermined value. The control device in accordance
with the forty-sixth aspect reduces the time for changing the
present shift stage to a preferred shift stage or the time for
changing the present transmission ratio to a preferred transmission
ratio.
[0051] In accordance with a forty-seventh aspect of the present
disclosure, in the control device according to any one of the
twenty-sixth to forty-sixth aspects, the electronic controller is
configured to control the motor and drive the transmission body
with the motor upon determining the derailleur has been actuated to
change the transmission ratio and the predetermined condition
related to pedaling is satisfied. The electronic controller is
configured to control the electric actuator so that a fifth time
during which the derailleur is actuated over a plurality of shift
stages in a case where a vehicle speed of the human-powered vehicle
is less than or equal to a fifth speed becomes shorter than a sixth
time during which the derailleur is actuated over the plurality of
shift stages in a case where the vehicle speed of the human-powered
vehicle exceeds the predetermined fifth speed. The control device
in accordance with the forty-seventh aspect controls the electric
actuator so that in a case where the derailleur is actuated over a
plurality of shift stages and the vehicle speed of the
human-powered vehicle is less than or equal to the fifth speed,
actuation of the derailleur is completed in a shorter time than in
a case where the vehicle speed of the human-powered vehicle exceeds
the predetermined fifth speed. The control device in accordance
with the forty-seventh aspect facilitates completion of shifting
before the human-powered vehicle stops.
[0052] A control device in accordance with a forty-eighth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle, a motor
configured to drive the transmission body, and an electric actuator
configured to operate the derailleur. The control device comprises
an electronic controller configured to control the electric
actuator and the motor. The electronic controller is configured to
control the motor and drive the transmission body with the motor
upon determining the derailleur has been actuated to change the
transmission ratio and a predetermined condition related to
pedaling is satisfied. The electronic controller is configured to
control the electric actuator so that a fifth time during which the
derailleur is actuated over a plurality of shift stages in a case
where a vehicle speed of the human-powered vehicle is less than or
equal to a fifth speed becomes shorter than a sixth time during
which the derailleur is actuated over the plurality of shift stages
in a case where the vehicle speed of the human-powered vehicle
exceeds the predetermined fifth speed. The control device in
accordance with the forty-eighth aspect is configured to control
the motor and drive the transmission body with the motor in a case
where the derailleur is actuated to change the transmission ratio
and the predetermined condition related to pedaling is satisfied.
This changes the transmission ratio in a preferred manner. The
control device in accordance with the forty-eighth aspect controls
the electric actuator so that in a case where the derailleur is
actuated over a plurality of shift stages and the vehicle speed of
the human-powered vehicle is less than or equal to the fifth speed,
actuation of the derailleur is completed in a shorter time than in
a case where the vehicle speed of the human-powered vehicle exceeds
the predetermined fifth speed. The control device in accordance
with the forty-eighth aspect facilitates completion of shifting
before the human-powered vehicle stops.
[0053] A control device in accordance with a forty-ninth aspect of
the present disclosure is for a human-powered vehicle. The
human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle and
including a plurality of shift positions, an electric actuator
configured to actuate the derailleur, and a motor configured to
drive the transmission body. The control device comprises an
electronic controller configured to control the electric actuator
and the motor and receive a signal for adjusting the position of
the derailleur. The electronic controller is configured to control
the motor so as to drive the motor in a case where the signal is
received. The electronic controller is configured to control the
electric actuator so that a position of the derailleur corresponds
to a first transmission ratio corresponding to a rotational speed
of the motor and the rotational speed of the wheel upon determining
the first transmission ratio does not correspond to a present
position of the derailleur. The control device in accordance with
the forty-ninth aspect drives the motor in a case where a signal
for adjusting the position of the derailleur is received, and
drives the derailleur with the electric actuator so that in a case
where the first transmission ratio corresponding to the rotational
speed of the motor and the rotational speed of the wheel does not
correspond to the present position of the derailleur, the present
position of the derailleur corresponds to correspond to the first
transmission ratio.
[0054] In accordance with a fiftieth aspect of the present
disclosure, the control device according to the forty-ninth aspect
further comprises a power storage device configured to store
electric power generated by the motor. The electronic controller is
configured to control the motor with the electric power of the
power storage device. The power transmission system in accordance
with the forty-ninth aspect controls the motor using electric power
of the power storage device configured to store electric power
generated by the motor. The power transmission system in accordance
with the fiftieth aspect reduces the frequency of charging the
power storage device.
[0055] A power transmission system in accordance with a fifty-first
aspect of the present disclosure is for a human-powered vehicle.
The human-powered vehicle includes a crank axle, a first rotational
body connected to the crank axle, a wheel, a second rotational body
connected to the wheel, a transmission body engaged with the first
rotational body and the second rotational body and configured to
transmit driving force between the first rotational body and the
second rotational body, and a derailleur configured to operate the
transmission body to change a transmission ratio of a rotational
speed of the wheel to a rotational speed of the crank axle. The
power transmission system comprises a motor configured to drive the
transmission body and generate electric power by being driven by
the transmission body, a power storage device configured to store
the electric power generated by the motor, and a control device for
the human-powered vehicle, wherein the control device includes an
electronic controller configured to control the motor with the
electric power of the power storage device, and the electronic
controller is configured to control the motor and drive the
transmission body upon determining the derailleur has been actuated
to change the transmission ratio and a predetermined condition
related to pedaling is satisfied. The power transmission system in
accordance with the fifty-first aspect is configured to control the
motor and drive the transmission body with the motor in a case
where the derailleur is actuated to change the transmission ratio
and the predetermined condition related to pedaling is satisfied.
This changes the transmission ratio in a preferred manner. The
power transmission system in accordance with the fiftieth aspect
controls the motor using electric power of the power storage device
configured to store electric power generated by the motor. The
power transmission system in accordance with the fifty-first aspect
reduces the frequency of charging the power storage device.
[0056] In accordance with a fifty-second aspect of the present
disclosure, the power transmission system according to the
fifty-first aspect is configured so that the human-powered vehicle
further includes an electric actuator configured to actuate the
derailleur. The electronic controller is configured to control the
electric actuator with the electric power of the power storage
device. The power transmission system in accordance with the
fifty-second aspect controls the electric actuator using electric
power of the power storage device configured to store electric
power generated by the motor.
[0057] In accordance with a fifty-third aspect of the present
disclosure, the power transmission system according to the fiftieth
or fifty-first aspect further comprises a first one-way clutch
provided in a first power transmission path between the crank axle
and the first rotational body and configured to transmit rotational
force from the crank axle to the first rotational body in a first
rotational direction and restrict transmission of rotational force
from the first rotational body to the crank axle in the first
rotational direction. The power transmission system in accordance
with the fifty-third aspect restricts transmission of rotational
force of the first rotational body to the crank axle with the first
one-way clutch in a case where the first rotational body is rotated
by the motor. This changes the transmission ratio in a preferred
manner in a case where the motor is driven to change the
transmission ratio.
[0058] The control device for a human-powered vehicle and the power
transmission system of the present disclosure change the
transmission ratio in a preferred manner.
BRIEF DESCRIPTION OF THE DRAWINGS
[0059] Referring now to the attached drawings which form a part of
this original disclosure.
[0060] FIG. 1 is a side elevational view of a human-powered vehicle
including a control device in accordance with a first
embodiment.
[0061] FIG. 2 is a cross-sectional view of a drive unit included in
the human-powered vehicle shown in FIG. 1.
[0062] FIG. 3 is a diagram showing a power transmission path of a
power transmission system of the human-powered vehicle shown in
FIG. 1.
[0063] FIG. 4 is a block diagram showing the electrical
configuration of the human-powered vehicle including the control
device of the first embodiment.
[0064] FIG. 5 is a flowchart of a process executed by the
electronic controller shown in FIG. 4 for controlling an electric
actuator and a motor to change the transmission ratio.
[0065] FIG. 6 is a flowchart of a process executed by the
electronic controller shown in FIG. 4 for controlling the electric
actuator and the motor to adjust the position of a derailleur.
[0066] FIG. 7 is a flowchart of a process executed by an electronic
controller for switching between a first mode and a second mode in
accordance with a second embodiment.
[0067] FIG. 8 is a flowchart of a process executed by the
electronic controller of the second embodiment for controlling the
electric actuator and the motor to change the transmission
ratio.
[0068] FIG. 9 is a block diagram showing the electrical
configuration of a control device in accordance with a third
embodiment.
[0069] FIG. 10 is a flowchart of a process executed by the
electronic controller shown in FIG. 9 for controlling the electric
actuator and the motor to change the transmission ratio.
[0070] FIG. 11 is a block diagram showing the electrical
configuration of the human-powered vehicle including the control
device of the third embodiment.
[0071] FIG. 12 is a flowchart of a process executed by the
electronic controller shown in FIG. 11 for switching between a
third mode and a fourth mode in a first shifting mode.
[0072] FIG. 13 is a flowchart of a process executed by a first
modification of an electronic controller for controlling the
electric actuator and the motor to change the transmission
ratio.
[0073] FIG. 14 is a flowchart of a process executed by a second
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0074] FIG. 15 is a flowchart of a process executed by a third
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0075] FIG. 16 is a flowchart of a process executed by a fourth
modification f an electronic controller for controlling an electric
actuator and a motor to change the transmission ratio.
[0076] FIG. 17 is a flowchart of a process executed by a fifth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0077] FIG. 18 is a flowchart of a process executed by a sixth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0078] FIG. 19 is a flowchart of a process executed by a seventh
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0079] FIG. 20 is a flowchart of a process executed by an eighth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0080] FIG. 21 is a flowchart of a process executed by a ninth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0081] FIG. 22 is a flowchart of a process executed by a tenth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0082] FIG. 23 is a flowchart of a process executed by an eleventh
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0083] FIG. 24 is a flowchart of a process executed by a twelfth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0084] FIG. 25 is a flowchart of a process executed by a thirteenth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0085] FIG. 26 is a flowchart of a process executed by a fourteenth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0086] FIG. 27 is a flowchart of a process executed by a fifteenth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
[0087] FIG. 28 is a flowchart of a process executed by a sixteenth
modification of an electronic controller for controlling an
electric actuator and a motor to change the transmission ratio.
DETAILED DESCRIPTION OF EMBODIMENTS
[0088] Selected embodiments will now be explained with reference to
the drawings. It will be apparent to those skilled in the
human-powered vehicle field from this disclosure that the following
descriptions of the embodiments are provided for illustration only
and not for the purpose of limiting the invention as defined by the
appended claims and their equivalents.
First Embodiment
[0089] A first embodiment of a power transmission system 60 for a
human-powered vehicle and a control device 70 for a human-powered
vehicle will now be described with reference to FIGS. 1 to 6. A
human-powered vehicle 10 is a vehicle including at least one wheel
and driven by at least the human driving force H. The human-powered
vehicle 10 includes, for example, various types of bicycles such as
a mountain bike, a road bike, a city bike, a cargo bike, a hand
bike, and a recumbent bike. The number of wheels on the
human-powered vehicle 10 is not limited. The human-powered vehicle
10 includes, for example, a monocycle and a vehicle including three
or more wheels. The human-powered vehicle 10 is not limited to a
vehicle configured to be driven only by human driving force H. The
human-powered vehicle 10 includes an E-bike that uses driving force
of a motor in addition to the human driving force H for propulsion.
The E-bike includes an electric assist bicycle that assists in
propulsion with a motor. In the embodiments described below, the
human-powered vehicle 10 refers to an electric assist bicycle.
[0090] The human-powered vehicle 10 includes a crank axle 12, a
first rotational body 14, a wheel 16, a second rotational body 18,
a transmission body 20, a derailleur 22, and a motor 24. The
human-powered vehicle 10 further includes two crank arms 26. The
crank axle 12 and the crank arms 26 form a crank 28. A human
driving force H is input to the crank 28. The human-powered vehicle
10 further includes a vehicle body 30. The wheel 16 includes a rear
wheel 16A and a front wheel 16B. The vehicle body 30 includes a
frame 32. The crank 28 is rotatable relative to the frame 32. The
crank arms 26 include a first crank arm 26A and a second crank arm
26B. The first crank arm 26A is provided on one axial end of the
crank axle 12. The second crank arm 26B is provided on the other
axial end of the crank axle 12. The human-powered vehicle 10
includes pedals 34. The pedals 34 include a first pedal 34A and a
second pedal 34B. The first pedal 34A is coupled to the first crank
arm 26A. The second pedal 34B is coupled to the second crank arm
26B. The rear wheel 16A is driven in accordance with rotation of
the crank 28. The rear wheel 16A is supported by the frame 32. The
crank 28 and the rear wheel 16A are coupled by a drive mechanism
36.
[0091] The drive mechanism 36 includes the first rotational body
14, the second rotational body 18, and the transmission body 20.
The first rotational body 14 is connected to the crank axle 12. The
second rotational body 18 is connected to the wheel 16. The
transmission body 20 is engaged with the first rotational body 14
and the second rotational body 18 and is configured to transmit
driving force between the first rotational body 14 and the second
rotational body 18. The transmission body 20 transmits rotational
force of the first rotational body 14 to the second rotational body
18. In the present embodiment, the first rotational body 14 is
coaxial with the crank axle 12. However, the first rotational body
14 can be configured not to be coaxial with the crank axle 12. In a
case where the first rotational body 14 is not coaxial with the
crank axle 12, the first rotational body 14 and the crank axle 12
are connected by a first transmission mechanism including at least
one of a gear, a pulley, a chain, a shaft, and a belt. In the
present embodiment, the second rotational body 18 is coaxial with
the rear wheel 16A. However, the second rotational body 18 can be
configured not to be coaxial with the rear wheel 16A. In a case
where the second rotational body 18 is not coaxial with the rear
wheel 16A, the second rotational body 18 and the rear wheel 16A are
connected by a second transmission mechanism including at least one
of a gear, a pulley, a chain, a shaft, and a belt.
[0092] The front wheel 16B is attached to the frame 32 by a front
fork 38. The front fork 38 is coupled to a handlebar 42 by a stem
40. In the present embodiment, the rear wheel 16A is coupled to the
crank 28 by the drive mechanism 36. However, at least one of the
rear wheel 16A and the front wheel 16B can be coupled to the crank
28 by the drive mechanism 36.
[0093] The derailleur 22 is configured to operate the transmission
body 20 to change a transmission ratio R of rotational speed NW of
the wheel 16 to rotational speed NC of the crank axle 12. The
relation of the transmission ratio R, the rotational speed NW, and
the rotational speed NC is expressed by equation (1).
Transmission Ratio R=Rotational Speed NW/Rotational Speed NC
Equation (1):
[0094] The derailleur 22 includes, for example, at least one of a
front derailleur and a rear derailleur. In a case where the
derailleur 22 includes a rear derailleur, the first rotational body
14 includes at least one sprocket, the second rotational body 18
include multiple sprockets, and the transmission body 20 includes a
chain. In a case where the derailleur 22 includes a rear
derailleur, the derailleur 22 moves the chain from one of the
sprockets of the second rotational body 18 to another one of the
sprockets that is engaged with the chain. In a case where the
derailleur 22 includes a front derailleur, the first rotational
body 14 includes multiple sprockets, the second rotational body 18
includes at least one sprocket, and the transmission body 20
includes a chain. In a case where the derailleur 22 includes a
front derailleur, the derailleur 22 moves the chain from one of the
sprockets of the first rotational body 14 to another one of the
sprockets that is engaged with the chain. The derailleur 22
operates the transmission body 20 to change the transmission ratio
R by changing the engagement state of the transmission body 20 with
at least one of the first rotational body 14 and the second
rotational body 18.
[0095] The first rotational body 14 and the second rotational body
18 can be provided on a gear box. The gear box is, for example,
provided in the vicinity of the crank axle 12. In a case where the
first rotational body 14 and the second rotational body 18 are
provided on the gear box, at least one of the first rotational body
14 and the second rotational body 18 includes multiple sprockets,
and the derailleur 22 is provided on the gear box and is configured
to change the engagement state of the transmission body 20 with at
least one of the first rotational body 14 and the second rotational
body 18.
[0096] Preferably, the human-powered vehicle 10 further includes a
first operating device 44. The first operating device 44 is
provided, for example, on the handlebar 42. The first operating
device 44 is configured to be operated by a hand or a finger of a
user or the like. The first operating device 44 includes a first
operating portion 44A. The first operating device 44 is operated by
the user to intentionally prohibit shifting. Preferably, the
human-powered vehicle 10 further includes a second operating device
45 configured to operate the derailleur 22. The second operating
device 45 is, for example, provided on the handlebar 42. The second
operating device 45 is configured to be operated by a hand or a
finger of the user of the like. The second operating device 45
includes at least a second operating portion 45A and a third
operating portion 45B.
[0097] Part of the first operating device 44 and part of the second
operating device 45 can be formed integrally with each other as a
one-piece member. For example, the first operating portion 44A of
the first operating device 44 and the second operating portion 45A
and the third operating portion 45B of the second operating device
45 can be provided on the same base member. The first operating
portion 44A includes, for example, a button switch or a lever
switch. The first operating portion 44A is not limited to a button
switch or a lever switch and can have any configuration that
changes between at least two states in accordance with operation of
the user. The second operating portion 45A and the third operating
portion 45B include, for example, a button switch or a lever
switch. The second operating portion 45A and the third operating
portion 45B are not limited to a button switch or a lever switch
and can have any configuration that changes between at least two
states in accordance with operation of the user.
[0098] The second operating portion 45A and the third operating
portion 45B are configured to operate the derailleur 22. The second
operating device 45 outputs a shifting operation signal to an
electronic controller 72 of the control device 70 in accordance
with operation of the user. In addition to or instead of the second
operating portion 45A and the third operating portion 45B, the
second operating device 45 can include a fourth operating portion
45C configured to operate a human-powered vehicle component that
excludes the derailleur 22. The human-powered vehicle component
includes, for example, at least one of a cycle computer, a
suspension, an adjustable seatpost, a lamp, and a drive unit. The
shifting operation signal includes, for example, a first operation
signal including an instruction to operate the derailleur 22 to
increase the transmission ratio R and a second operation signal
including an instruction to operate the derailleur 22 to decrease
the transmission ratio R.
[0099] The second operating device 45 outputs the first operation
signal in a case where the second operating portion 45A is
operated, and outputs the second operation signal in a case where
the third operating portion 45B is operated. In the present
embodiment, the rear derailleur is operated by the second operating
portion 45A and the third operating portion 45B. However, the front
derailleur can be operated by the second operating portion 45A and
the third operating portion 45B. Both the front derailleur and the
rear derailleur can be operated by the second operating portion 45A
and the third operating portion 45B. In addition to the second
operating portion 45A and the third operating portion 45B, the
second operating device 45 can further include a fifth operating
portion and a sixth operating portion. The fifth operating portion
and the sixth operating portion are, for example, configured in the
same manner as the second operating portion 45A and the third
operating portion 45B. The rear derailleur can be operated by one
of the set of the second operating portion 45A and the third
operating portion 45B and the set of the fifth operating portion
and the sixth operating portion, and the front derailleur can be
operated by the other one of the set of the second operating
portion 45A and the third operating portion 45B and the set of the
fifth operating portion and the sixth operating portion.
[0100] Preferably, the human-powered vehicle 10 further includes an
electric actuator 48 that is configured to operate the derailleur
22. The electric actuator 48 includes, for example, an electric
motor. The electric actuator 48 can further include, for example, a
speed reducer coupled to an output shaft of the electric motor. The
electric actuator 48 can be provided on the derailleur 22 or can be
provided on the human-powered vehicle 10 at a position separate
from the derailleur 22. The electric actuator 48 is driven so that
the derailleur 22 operates the transmission body 20 to perform a
shifting action. The derailleur 22 includes, for example, a base
member, a movable member, and a link member that movably couples
the movable member to the base member. The movable member includes
a guide member that guides a coupling member. The guide member
includes, for example, a guide plate and a pulley. The electric
actuator 48 can, for example, directly drive the link member. The
electric actuator 48 can drive the link member using a cable.
[0101] Preferably, the human-powered vehicle 10 further includes a
battery 46. The battery 46 includes one or more battery elements.
The battery elements include a rechargeable battery. The battery 46
is configured to supply electric power to the control device 70.
Preferably, the battery 46 is also configured to supply electric
power to the electric actuator 48. Preferably, the battery 46 is
connected to the controller 72 of the control device 70 so that
wired or wireless communication is performed. The battery 46 is
configured to communicate with the controller 72 through, for
example, power line communication (PLC), a controller area network
(CAN), or a universal asynchronous receiver/transmitter (UART).
[0102] The motor 24 is configured to drive the transmission body
20. Preferably, the motor 24 is configured to apply a propulsion
force to the human-powered vehicle 10 in accordance with the human
driving force H. The motor 24 includes one or more electric motors.
The electric motor of the motor 24 is, for example, a brushless
motor. The motor 24 is configured to transmit rotational force to a
power transmission path of the human driving force H extending from
the pedals 34 to the second rotational body 18. In the present
embodiment, the motor 24 is provided on the frame 32 of the
human-powered vehicle 10, and is configured to transmit rotational
force to the first rotational body 14. The human-powered vehicle 10
further includes a housing 52 on which the motor 24 is provided. A
drive unit 50 is configured to include the motor 24 and the housing
52. The housing 52 is attached to the frame 32. The housing 52
rotationally supports the crank axle 12. The motor 24 can be
configured to transmit rotational force to the transmission body
20, for example, without using the first rotational body 14. In
this case, for example, a sprocket configured to engage with the
transmission body 20 is provided on the output shaft of the motor
24 or a transmission member to which force of the output shaft is
transmitted.
[0103] A speed reducer 54 can be provided between the motor 24 and
the power transmission path of the human driving force H. The speed
reducer 54 is, for example, configured to include gears.
Preferably, a third one-way clutch 56 can be provided between the
motor 24 and the power transmission path of the human driving force
H to restrict transmission of rotational force of the crank 28 to
the motor 24 in a case where the crank axle 12 is rotated in a
direction in which the human-powered vehicle 10 travels forward.
The third one-way clutch 56 includes, for example, at least one of
a roller clutch, a sprag-type clutch, and a pawl-type clutch.
[0104] The drive unit 50 includes an output portion 58. The output
portion 58 is, for example, coupled to the crank axle 12 and the
speed reducer 54. The human driving force H and the output of the
motor 24 are input to the output portion 58. The first rotational
body 14 is coupled to the output portion 58 so as to rotate
integrally with the output portion 58.
[0105] Preferably, the power transmission system 60 includes the
control device 70 and a first one-way clutch 62. The first one-way
clutch 62 is provided in a first power transmission path between
the crank axle 12 and the first rotational body 14. The first
one-way clutch 62 is configured to transmit rotational force from
the crank axle 12 to the first rotational body 14 in a first
rotational direction, and restrict transmission of rotational force
from the first rotational body 14 to the crank axle 12 in the first
rotational direction. The first one-way clutch 62 is configured to
rotate the first rotational body 14 forward in a case where the
crank 28 rotates forward, and allow relative rotation of the crank
28 and the first rotational body 14 in a case where the crank 28
rotates rearward. The first one-way clutch 62 is provided, for
example, on the housing 52 of the drive unit 50. The first one-way
clutch 62 is provided, for example, between the crank axle 12 and
the output portion 58. The first one-way clutch 62 includes, for
example, at least one of a roller clutch, a sprag-type clutch, and
a pawl-type clutch.
[0106] The crank axle 12 and the first rotational body 14 can be
coupled so as to rotate integrally with each other. In a case where
the crank axle 12 and the first rotational body 14 are coupled so
as to rotate integrally with each other, the first one-way clutch
62 is omitted.
[0107] Preferably, the power transmission system 60 further
includes a second one-way clutch 64. The second one-way clutch 64
is provided in a second power transmission path between the second
rotational body 18 and the wheel 16. The second one-way clutch 64
is configured to transmit rotational force from the second
rotational body 18 to the wheel 16 in a second rotational direction
corresponding to the first rotational direction, and restrict
transmission of rotational force from the wheel 16 to the second
rotational body 18 in the second rotational direction. The second
one-way clutch 64 is configured to rotate the rear wheel 16A
forward in a case where the second rotational body 18 rotates
forward, and allow relative rotation of the second rotational body
18 and the rear wheel 16A in a case where the second rotational
body 18 rotates rearward. The second one-way clutch 64 is provided,
for example, on a hub axle of the rear wheel 16A. The second
one-way clutch 64 includes, for example, at least one of a roller
clutch, a sprag-type clutch, and a pawl-type clutch.
[0108] The second rotational body 18 and the rear wheel 16A can be
coupled so as to rotate integrally with each other. In a case where
the second rotational body 18 and the rear wheel 16A are coupled so
as to rotate integrally with each other, the second one-way clutch
64 is omitted.
[0109] Preferably, the power transmission system 60 further
includes a power storage device 66. The power storage device 66 is
configured to store electric power generated by the motor 24.
Preferably, the controller 72 is configured to control the motor 24
using electric power of the power storage device 66. The power
storage device 66 can include the battery 46, can include a battery
different from the battery 46, or can include a capacitor. The
power storage device 66 is provided, for example, on the housing 52
of the drive unit 50.
[0110] The control device 70 includes the electronic controller 72.
The controller 72 includes at least one processor 72A that executes
a predetermined control program. The at least one processor 72A can
be for example, a central processing unit (CPU) or a micro
processing unit (MPU). The term "electronic controller" as used
herein refers to hardware that executes a software program, and
does not include a human. For the sake of brevity, the electronic
controller 72 shall hereinafter be simply referred to as "the
controller 72". The processor 72A includes, for example, an
arithmetic processing unit. While only one processor is illustrated
in FIG. 2, it will be apparent from this disclosure that several
processors can be used. When several processors are used, the
processors can be provided at different positions separate from
each other. The controller 72 can include one or more
microcomputers. Preferably, the control device 70 further includes
storage 74. The storage 74 stores various control programs and
information used for various control processes. The storage 74
includes any computer storage device or any non-transitory
computer-readable medium with the sole exception of a transitory,
propagating signal. For example, the storage 74 includes a
nonvolatile memory and a volatile memory. The nonvolatile memory
includes, for example, at least one of a read-only memory (ROM), an
erasable programmable read only memory (EPROM), an electrically
erasable programmable read-only memory (EEPROM), and a flash
memory. The volatile memory includes, for example, a random access
memory (RAM).
[0111] Preferably, the control device 70 further includes a drive
circuit 76 of the motor 24. Preferably, the drive circuit 76 and
the controller 72 are provided on the housing 52 of the drive unit
50. The drive circuit 76 and the controller 72 can be provided, for
example, on the same circuit substrate. The drive circuit 76
includes an inverter circuit. The drive circuit 76 controls
electric power supplied from the battery 46 to the motor 24. The
drive circuit 76 is connected to the controller 72 so that wired or
wireless communication is performed. The drive circuit 76 drives
the motor 24 in accordance with a control signal from the
controller 72.
[0112] Preferably, the control device 70 further includes a vehicle
speed sensor 78, a crank rotation sensor 80, and a torque sensor
82. The term "sensor" as used herein also refers to a hardware
device or instrument designed to detect the presence of a
particular object or substance and to emit a signal in response.
The term "sensor" as used herein also do not include a human.
[0113] The vehicle speed sensor 78 is configured to detect
information corresponding to the rotational speed NW of the wheel
16 of the human-powered vehicle 10. Preferably, the vehicle speed
sensor 78 is configured to detect a magnet provided on the wheel 16
of the human-powered vehicle 10. The vehicle speed sensor 78 is
configured to, for example, output detection signals a
predetermined number of times in one rotation of the wheel 16. The
predetermined number of times is, for example, one. The vehicle
speed sensor 78 outputs a signal corresponding to the rotational
speed NW of the wheel 16. The controller 72 calculates a vehicle
speed V of the human-powered vehicle 10 based on the rotational
speed NW of the wheel 16. The vehicle speed V is calculated based
on the rotational speed NW of the wheel 16 and information related
to the perimeter of the wheel 16. The information related to the
perimeter of the wheel 16 is stored in the storage 74.
[0114] The vehicle speed sensor 78 includes, for example, a
magnetic reed forming a reed switch or a Hall element. The vehicle
speed sensor 78 can be attached to a chainstay of the frame 32 of
the human-powered vehicle 10 and configured to detect a magnet
attached to the rear wheel 16A or can be provided on the front fork
38 and configured to detect a magnet attached to the front wheel
16B. In the present embodiment, the vehicle speed sensor 78 is
configured so that the reed switch detects the magnet once in one
rotation of the wheel 16. The vehicle speed sensor 78 can have any
configuration that detects information corresponding to the
rotational speed NW of the wheel 16 of the human-powered vehicle 10
and can include, for example, an optical sensor or an acceleration
sensor. The vehicle speed sensor 78 is connected to the controller
72 via a wireless communication device or an electric cable.
[0115] The crank rotation sensor 80 is configured to detect
information corresponding to the rotational speed NC of the crank
axle 12 of the human-powered vehicle 10. The crank rotation sensor
80 is provided, for example, on the frame 32 of the human-powered
vehicle 10 or the drive unit 50. The crank rotation sensor 80 is
configured to include a magnetic sensor that outputs a signal
corresponding to the strength of the magnetic field. An annular
magnet having a magnetic field, the strength of which changes in
the circumferential direction, is provided on the crank axle 12, a
member that rotates in cooperation with the crank axle 12, or the
power transmission path between the crank axle 12 and the first
rotational body 14. The member that rotates in cooperation with the
crank axle 12 can include the output shaft of the motor 24. The
crank rotation sensor 80 outputs a signal corresponding to the
rotational speed NC of the crank axle 12.
[0116] The magnet can be provided on a member that rotates
integrally with the crank axle 12 in the power transmission path of
the human driving force H between the crank axle 12 and the first
rotational body 14. For example, in a case where the first one-way
clutch is not provided between the crank axle 12 and the first
rotational body 14, the magnet can be provided on the first
rotational body 14. The crank rotation sensor 80 can have any
configuration that detects information corresponding to the
rotational speed NC of the crank axle 12 of the human-powered
vehicle 10 and can include, for example, an optical sensor, an
acceleration sensor, or a torque sensor instead of the magnetic
sensor. The crank rotation sensor 80 is connected to the controller
72 by a wireless communication device or an electric cable.
[0117] The torque sensor 82 is configured to output a signal
corresponding to torque applied to the crank 28 by the human
driving force H. The torque sensor 82 is configured to output
information corresponding to torque of the human driving force H
that is input to the crank 28. For example, in a case where the
first one-way clutch 62 is provided on the power transmission path,
it is preferred that the torque sensor 82 is provided at the
upstream side of the first one-way clutch 62 in the power
transmission path. The torque sensor 82 includes, for example, a
strain sensor, a magnetostrictive sensor, or a pressure sensor. The
strain sensor includes a strain gauge. The torque sensor 82 is
provided on a member included in the power transmission path or a
member provided near the member included in the power transmission
path. The member included in the power transmission path is, for
example, the crank axle 12, a member that transmits the human
driving force H between the crank axle 12 and the first rotational
body 14, the crank arms 26, or the pedals 34. The torque sensor 82
is connected to the controller 72 by a wireless communication
device or an electric cable.
[0118] Preferably, the control device 70 includes a first detector
84. The term "detector" as used herein refers to a hardware device
or instrument designed to detect the presence of a particular
object or substance and to emit a signal in response. The term
"detector" as used herein do not include a human. The first
detector 84 is configured to detect a load L of the motor 24. The
first detector 84 includes a current sensor that detects current
flowing through the motor 24 and a rotation sensor that detects
rotational speed of the motor 24. Since a known technique can be
used to detect the load L of the motor 24 based on the current
flowing through the motor 24 and the rotational speed of the motor
24, the technique will not be described in detail.
[0119] Preferably, the control device 70 further includes a second
detector 86 that detects an inclination angle D of the
human-powered vehicle 10. The inclination angle D includes a pitch
angle of the human-powered vehicle 10. The second detector 86
includes, for example, at least one of an inclination sensor and a
global positioning system (GPS). The inclination sensor includes,
for example, at least one of a gyro sensor and an acceleration
sensor. In a case in which the second detector 86 includes a GPS
receiver, the storage 74 stores map information including
information related to road gradient in advance, and the controller
72 obtains the road gradient of the current position of the
human-powered vehicle 10 as the pitch angle.
[0120] Preferably, the control device 70 further includes a
transmission state sensor 88. The transmission state sensor 88
outputs information related to a transmission state of the
derailleur 22. The transmission state includes, for example, a
shift stage. The transmission state sensor 88 can be provided on
the derailleur 22 or can be provided on the second operating device
45. The transmission state sensor 88 is configured to, for example,
detect an action of the electric actuator 48. The electric actuator
48 includes, for example, an electric motor and a speed reducer.
The transmission state sensor 88 is configured to detect an action
of the electric motor or the speed reducer of the electric actuator
48. The transmission state sensor 88 is configured to include, for
example, a magnetic sensor, a potentiometer, a rotary encoder, a
linear encoder or an optical sensor.
[0121] The storage 74 stores information related to the
transmission state that is output from the transmission state
sensor 88 in association with information related to the
transmission ratio R of the human-powered vehicle 10. The
association of information related to the transmission state with
information related to the transmission ratio R of the
human-powered vehicle 10 can be stored as a table or a function.
The controller 72 obtains information related to the present
transmission ratio R of the human-powered vehicle 10 based on the
information related to the transmission state output from the
transmission state sensor 88 and information stored in the storage
74. Information relate to the transmission ratio R of the
human-powered vehicle 10 can be expressed by the transmission ratio
R or can be expressed by a parameter corresponding to the
transmission ratio R instead of the transmission ratio R. The
parameter corresponding to the transmission ratio R can be a
parameter expressing the shift stage.
[0122] The controller 72 is configured to control the motor 24. The
controller 72 is configured to control the motor 24, for example,
in accordance with at least one of the vehicle speed V of the
human-powered vehicle 10, a rotational speed N of the crank 28, and
the human driving force H. The human driving force H can be
expressed in torque HT or power HW. In a case where the human
driving force H is expressed in the power HW, the human driving
force H is obtained by multiplying torque that is detected by the
torque sensor 82 by the rotational speed NC of the crank axle 12
detected by the crank rotation sensor 80.
[0123] The controller 72 is configured to control the motor 24, for
example, so that the ratio of an assist force M produced by the
motor 24 to the human driving force H equals a predetermined assist
ratio A. The predetermined assist ratio A does not have to be
constant and can be, for example, change in accordance with the
human driving force H, the vehicle speed V, or both the human
driving force H and the vehicle speed V. The human driving force H
and the assist force M can be expressed in torque or power. In a
case where the human driving force H and the assist force M are
expressed in torque, the human driving force H is referred to as
human torque TH, and the assist force M is referred to as an assist
torque TM. In a case where the human driving force H and the assist
force M are expressed in power, the human driving force H is
referred to as a human power WH, and the assist force M is referred
to as an assist power WM. In the description, the torque ratio of
an output torque MT to the human torque TH of the human-powered
vehicle 10 can be referred to as an assist ratio AT. In the
description, the ratio of the assist power WM of the motor 24 to
the human power WH can be referred to as an assist ratio AW. The
assist ratio A is equal to the ratio of a propulsion force
generated in the human-powered vehicle 10 by an assist force of the
motor 24 to a propulsion force generated in the human-powered
vehicle by the human driving force H.
[0124] The controller 72 is configured to control the motor 24, for
example, in a control state selected from multiple control states
that at least partially differ from each other in the
correspondence relationship between the human driving force H and
the ratio A. The human power WH is calculated by multiplying the
human torque TH by the rotational speed NC of the crank axle 12. In
a case where the output of the motor 24 is input to the power
transmission path of the human driving force H through the speed
reducer 54, the output of the speed reducer 54 is used as the
assist force M. In a case where the speed reducer 54 is not
provided, the assist power WM is calculated by multiplying the
output torque of the motor 24 by the rotational speed of the motor
24. In a case where the speed reducer 54 is provided, the assist
power WM is calculated by multiplying the output torque of the
speed reducer 54 by an output rotational speed of the speed reducer
54. In a case where the speed reducer 54 is provided, the storage
74 is configured to store information related to a reduction ratio
of the speed reducer 54.
[0125] The controller 72 calculates the output rotational speed of
the speed reducer 54 based on the rotational speed of the motor 24
and information related to the reduction ratio of the speed reducer
54. The storage 74 stores, for example, information indicating the
relation between a control instruction of the motor 24 and the
output torque of the motor 24. The controller 72 calculates the
output torque of the motor 24 in accordance with, for example,
information indicating the relation between the control instruction
of the motor 24 and the output torque of the motor 24 stored in the
storage 74. The controller 72 calculates the output torque of the
speed reducer 54, for example, in accordance with the output torque
of the motor 24 and information related to the reduction ratio of
the speed reducer. The controller 72 is configured to output the
control instruction to the drive circuit 76 of the motor 24 in
accordance with the human torque TH or the human power WH. The
control instruction includes, for example, a torque instruction
value. The control states can include a control state in which the
motor 24 is not driven.
[0126] The controller 72 is configured to control the motor 24 so
that the assist force M becomes less than or equal to an upper
limit value MX. In a case where the assist force M is expressed in
torque, the controller 72 is configured to control the motor 24 so
that the output torque MT becomes less than or equal to an upper
limit value MTX. Preferably, the upper limit value MTX is in a
range that is greater than or equal to 30 Nm and less than or equal
to 90 Nm. The upper limit value MTX is, for example, 80 Nm. The
upper limit value MTX is determined, for example, by an output
property of the motor 24. In a case where the assist force M is
expressed in power, the controller 72 is configured to control the
motor 24 so that the assist power WM becomes less than or equal to
an upper limit value WMX.
[0127] For example, upon determining the vehicle speed V has become
greater than or equal to a predetermined the vehicle speed VX, the
controller 72 stops the motor 24. The predetermined vehicle speed
VX is, for example, 45 km per hour. The predetermined vehicle speed
VX can be less than 45 km per hour and can be, for example, 25 km
per hour.
[0128] For example, upon determining the rotational speed NC of the
crank axle 12 is less than a predetermined rotational speed NCX,
the controller 72 stops driving the motor 24 in accordance with at
least one of the rotational speed N of the crank 28 and the human
driving force H. The predetermined rotational speed NCX is, for
example, 0 rpm. For example, upon determining the rotational speed
NC of the crank axle 12 is greater than or equal to a predetermined
rotational speed NCY, the controller 72 can stop the motor 24 or
can control the motor 24 to decrease the assist force M. The
predetermined rotational speed NCY is greater than a predetermined
rotational speed NC and, for example, has a value in a range from
120 rpm to 200 rpm.
[0129] Preferably, the controller 72 is configured to control the
electric actuator 48. Preferably, the controller 72 is configured
to control the electric actuator 48 and the motor 24. The
controller 72 outputs a shifting control signal for changing the
transmission ratio R to the electric actuator 48. In a case where
the shifting control signal is input, the electric actuator 48 is
actuated to operate the derailleur 22. The shifting control signal
includes, for example, electric power for driving the electric
actuator 48. Preferably, the shifting control signal includes a
first shifting control signal including an instruction that the
electric actuator 48 operates the derailleur 22 to increase the
transmission ratio R and a second shifting control signal including
an instruction that the electric actuator 48 operates the
derailleur 22 to decrease the transmission ratio R.
[0130] Preferably, upon determining a shifting condition is
satisfied, the controller 72 is configured to control the electric
actuator 48 so that the derailleur 22 is actuated to change the
transmission ratio R. Upon determining a shifting condition for
increasing the transmission ratio R is satisfied, the controller 72
transmits the first shifting control signal to the electric
actuator 48 to operate the derailleur 22 so that the electric
actuator 48 increases the transmission ratio R. Upon determining a
shifting condition for decreasing the transmission ratio R is
satisfied, the controller 72 transmits the second shifting control
signal to the electric actuator 48 to operate the derailleur 22 so
that the electric actuator 48 decreases the transmission ratio
R.
[0131] In the present embodiment, the shifting condition is
satisfied in a case where a shifting execution condition is
satisfied and shifting is not prohibited. The shifting condition
can be satisfied in a case where the shifting execution condition
is satisfied. The shifting execution condition is satisfied, for
example, in at least one of a case where the shifting operation
signal is input to the controller 72 from the second operating
device 45 and a case where a predetermined condition related to a
travel state of the human-powered vehicle 10 is satisfied. The
controller 72 can control the derailleur 22 in accordance with a
manual operation performed by the user on the second operating
device 45, can automatically control the derailleur 22 in
accordance with the travel state of the human-powered vehicle 10,
or can control the derailleur 22 in accordance with both the manual
operation performed by the user on the second operating device 45
and the travel state of the human-powered vehicle 10.
[0132] The controller 72 can be configured to switch between a
manual shifting mode and an automatic shifting mode. In the manual
shifting mode, the derailleur 22 is controlled in accordance with
the manual operation performed by the user on the second operating
device 45. In the automatic shifting mode, the derailleur 22 is
automatically controlled in accordance with the travel state of the
human-powered vehicle 10. For example, a third operating device can
be provided on the handlebar 42 to switch between the manual
shifting mode and the automatic shifting mode. Upon determining the
user operates the third operating device, the controller 72 can
switch between the manual shifting mode and the automatic shifting
mode. For example, the controller 72 alternately switches between
the manual shifting mode and the automatic shifting mode each time
the third operating device is operated. For example, upon
determining the second operating portion 45A and the third
operating portion 45B of the second operating device 45 are
simultaneously operated, the controller 72 can switch between the
manual shifting mode and the automatic shifting mode.
[0133] For example, upon determining the second operating device 45
is operated in the manual shifting mode, the controller 72 can be
configured to be automatically switchable from the manual shifting
mode to the automatic shifting mode in correspondence with a
difference between a first rotational speed N1, which is calculated
in accordance with the rotational speed NW of the wheel 16 and the
transmission ratio R, and a predetermined rotational speed or a
rotational speed in a predetermined range. The first rotational
speed N1 is obtained from equation (2).
First Rotational Speed N1=Rotational Speed NW/Transmission Ratio R
Equation (2):
[0134] For example, in a case of switching to the automatic
shifting mode, the controller 72 controls the motor 24 and the
electric actuator 48 so that the transmission ratio R is set in
correspondence with a difference between the first rotational speed
N1 stored in the storage 74 and the predetermined rotational speed
or the rotational speed in the predetermined range. In any one of a
case of automatically switching to the automatic shifting mode and
a case of switching to the automatic shifting mode by operation of
the user, the controller 72 can be configured to be switchable from
the automatic shifting mode to the manual shifting mode in at least
one of a case where a predetermined time elapses, a case where the
human driving force H becomes greater than or equal to a
predetermined value, and a case where the rotational amount of the
crank axle 12 becomes greater than or equal to a predetermined
rotational amount.
[0135] The predetermined condition related to the travel state of
the human-powered vehicle 10 is satisfied, for example, in at least
one of a case where the rotational speed NC of the crank axle 12 is
outside a predetermined first range, a case where the human driving
force H is outside a predetermined second range, and a case where
the human-powered vehicle 10 is decelerated. The predetermined
condition related to the travel state of the human-powered vehicle
10 can be satisfied in only one or any two of a case where the
rotational speed NC of the crank axle 12 is outside a predetermined
first range, a case where the human driving force H is outside a
predetermined second range, and a case where the human-powered
vehicle 10 is decelerated. The controller 72 is configured to
control the electric actuator 48 so that the first rotational speed
N1 is included in a predetermined range.
[0136] Preferably, the case where the human-powered vehicle 10 is
decelerated includes a case where the deceleration in a direction
corresponding to the traveling direction of the human-powered
vehicle 10 is greater than a predetermined deceleration.
Preferably, the predetermined deceleration corresponds to a
deceleration in a case where the human-powered vehicle 10 is
quickly decelerated as a result of hard braking.
[0137] The shifting execution condition can include a condition
related to a traveling resistance of the human-powered vehicle 10.
The traveling resistance includes, for example, at least one of air
resistance, rolling resistance, gradient resistance, and
acceleration resistance. The controller 72 can control the electric
actuator 48, for example, to decrease the transmission ratio R upon
determining the traveling resistance is increased, and to increase
the transmission ratio R upon determining the traveling resistance
is decreased.
[0138] The controller 72 includes at least one of the following
configurations (A1), (A2), (A3), and (A4). The controller 72 can
include two, three, or all of the configurations (A1), (A2), (A3),
and (A4).
[0139] (A1) The controller 72 is configured to control the electric
actuator 48 so that the transmission ratio R does not increase in a
case where the vehicle speed V of the human-powered vehicle 10 is
greater than or equal to a second speed V2 or the rotational speed
NW of the wheel 16 is greater than or equal to a predetermined
rotational speed NWX. In the configuration (A1), the controller 72
can be configured to control the electric actuator 48 so that the
transmission ratio R does not increase in a case where the vehicle
speed V of the human-powered vehicle 10 is greater than or equal to
the second speed V2 and the rotational speed NW of the wheel 16 is
greater than or equal to the predetermined rotational speed
NWX.
[0140] (A2) The controller 72 is configured to control the electric
actuator 48 so as not to change the transmission ratio R until a
first condition related to shifting is satisfied in a case where
the derailleur 22 is actuated.
[0141] (A3) The controller 72 is configured to control the electric
actuator 48 so as not to change the transmission ratio R with the
derailleur 22 until a second condition related to shifting is
satisfied in a case where the electric actuator 48 and the motor 24
are controlled to increase or decrease the transmission ratio R a
predetermined number of times or more within a predetermined third
time T3.
[0142] (A4) The controller 72 is configured to control the electric
actuator 48 so as not to change the transmission ratio R with the
derailleur 22 upon determining the vehicle speed V of the
human-powered vehicle 10 is less than or equal to a first speed V1
or the rotational speed NW of the wheel 16 is less than or equal to
a predetermined rotational speed NX even if the predetermined
condition related to the travel state of the human-powered vehicle
10 is satisfied.
[0143] In a case where the controller 72 includes the configuration
(A1), the controller 72 does not execute control on the electric
actuator 48 that increases the transmission ratio R in at least one
of a case where the vehicle speed V of the human-powered vehicle 10
is greater than or equal to the second speed V2 and a case where
the rotational speed NW of the wheel 16 is greater than or equal to
the predetermined rotational speed NWX. For example, in at least
one of a case where the vehicle speed V of the human-powered
vehicle 10 is greater than or equal to the second speed V2 and a
case where the rotational speed NW of the wheel 16 is greater than
or equal to the predetermined rotational speed NWX, the controller
72 does not transmit the first shifting control signal to the
electric actuator 48. For example, in at least one of a case where
the vehicle speed V of the human-powered vehicle 10 is greater than
or equal to the second speed V2 and a case where the rotational
speed NW of the wheel 16 is greater than or equal to the
predetermined rotational speed NWX, the controller 72 is configured
to transmit the second shifting control signal to the electric
actuator 48 in correspondence with the shifting execution
condition. In at least one of a case where the vehicle speed V is
greater than or equal to the second speed V2 and the rotational
speed NW of the wheel 16 is greater than or equal to the
predetermined rotational speed NWX, the controller 72 controls the
electric actuator 48 so as not to increase the transmission ratio
R, so that increases in the vehicle speed V of the human-powered
vehicle 10 are limited.
[0144] In a case where the controller 72 includes the configuration
(A2), the controller 72 is configured to control the electric
actuator 48 so as not to change the transmission ratio R until the
first condition related to shifting is satisfied, for example, in a
case where the derailleur 22 is actuated by operation of the second
operating device 45. Preferably, the first condition related to
shifting is satisfied in at least one of a case where a
predetermined first time T1 elapses from the time of operating the
second operating device 45, a case where a predetermined second
time T2 elapses from the time of stopping the electric actuator 48,
a case where the inclination angle D of the human-powered vehicle
10 becomes greater than or equal to a predetermined first angle D1,
and a case where the vehicle speed V of the human-powered vehicle
10 becomes greater than or equal to a predetermined third speed V3.
The controller 72 does not execute control on the electric actuator
48 that changes the transmission ratio R upon determining the
derailleur 22 has been actuated and the first condition related to
shifting is not satisfied. For example, upon determining the
derailleur 22 has been actuated and the first condition related to
shifting is not satisfied, the controller 72 does not output the
first shifting control signal and the second shifting control
signal to the electric actuator 48. The predetermined first time T1
is, for example, included in a range from 0.1 seconds to 10
seconds. The predetermined second time T2 is, for example, included
in a range from 0.1 seconds to 10 seconds. The predetermined first
angle D1 is, for example, a pitch angle of the human-powered
vehicle 10 that is greater than or equal to 5 degrees.
[0145] In a case where the controller 72 includes the configuration
(A3), the second condition related to shifting is satisfied, for
example, in at least one of a case where a predetermined fourth
time T4 elapses from the time of stopping the electric actuator 48,
a case where the inclination angle D of the human-powered vehicle
10 becomes greater than or equal to a predetermined second angle
D2, and a case where the vehicle speed of the human-powered vehicle
10 becomes greater than or equal to a predetermined fourth speed
V4. The controller 72 does not execute control on the electric
actuator 48 that changes the transmission ratio R upon determining
the second condition related to shifting is not satisfied and the
electric actuator 48 and the motor 24 are controlled to increase or
decrease the transmission ratio R a predetermined number of times
or more within the predetermined third time T3. For example, the
controller 72 does not output the first shifting control signal and
the second shifting control signal to the electric actuator 48 upon
determining the second condition related to shifting is not
satisfied and the electric actuator 48 and the motor 24 are
controlled to increase or decrease the transmission ratio R a
predetermined number of times or more within the predetermined
third time T3. The predetermined fourth time T4 is, for example,
included in a range from 0.1 seconds to 10 seconds. The fourth
speed V4 is, for example, greater than or equal to 3 km per hour.
The predetermined second angle D2 is, for example, a pitch angle of
the human-powered vehicle 10 that is greater than or equal to 5
degrees.
[0146] In a case where the controller 72 includes the configuration
(A4), the first speed V1 and the predetermined rotational speed NX
have values that are, for example, appropriate for determining a
stoppage of traveling of the human-powered vehicle 10. The first
speed V1 has, for example, a value in a range from 0 km/h to 3
km/h. The predetermined rotational speed NX has, for example, a
value in a range from 0 rpm to 5 rpm. Upon determining the first
speed V1 and the predetermined rotational speed NX have values that
are appropriate for determining a stoppage of traveling of the
human-powered vehicle 10, the controller 72 restricts changes in
the transmission ratio R in a case where the human-powered vehicle
10 stops. This avoids a situation in which the human-powered
vehicle 10 stops during a shifting operation of the derailleur
22.
[0147] The controller 72 is configured to control the motor 24 and
drive the transmission body 20 with the motor 24 upon determining
the derailleur 22 has been actuated to change the transmission
ratio R and a predetermined condition related to pedaling is
satisfied. Preferably, the controller 72 is configured to control
the motor 24 and drive the transmission body 20 so as not to apply
a propulsion force to the human-powered vehicle 10 upon determining
the derailleur 22 has been actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied. The controller 72 drives the transmission body 20 so as
not to transmit driving force of the motor 24 to the rear wheel 16A
upon determining the derailleur 22 has been actuated to change the
transmission ratio R and the predetermined condition related to
pedaling is satisfied. For example, the controller 72 is configured
to control the motor 24 so that the transmission body 20 is driven
by the motor 24 and the rear wheel 16A is not rotated by the motor
24. For example, the controller 72 is configured to control the
motor 24 so that the rotational speed of the second rotational body
18 becomes less than or equal to the rotational speed of the rear
wheel 16A. The controller 72 can control the motor 24 so as not to
apply a propulsion force to the human-powered vehicle 10 in
correspondence with information related to the rotational speed or
rotational torque of the motor 24 stored in the storage 74 in
advance.
[0148] Preferably, the controller 72 is configured to control the
electric actuator 48 and the motor 24 so that relative movement of
the derailleur 22 and at least one of the first rotational body 14
and the second rotational body 18 is started simultaneously as the
motor 24 is driven or before the motor 24 is driven in a case where
the electric actuator 48 and the motor 24 are controlled to change
the transmission ratio R and the predetermined condition related to
pedaling is satisfied. The controller 72 can be configured to
control the electric actuator 48 and the motor 24 so that relative
movement of the derailleur 22 and at least one of the first
rotational body 14 and the second rotational body 18 is started
after the motor 24 is driven in a case where the electric actuator
48 and the motor 24 are controlled to change the transmission ratio
R and the predetermined condition related to pedaling is
satisfied.
[0149] In the shifting condition, the controller 72 can be
configured to control the electric actuator 48 so that the
derailleur 22 is actuated over a plurality of shift stages. In this
case, the shifting control signal includes a signal for actuating
the derailleur 22 over a plurality of shift stages. The controller
72 can be configured to control the motor 24 so that the rotational
speed of the motor 24 in a case where the derailleur 22 changes the
shift stage twice or more to reach the target transmission ratio R
is greater than the rotational speed of the motor 24 in a case
where the derailleur 22 changes the shift stage only once to reach
the target transmission ratio R. Preferably, the controller 72 is
configured to control the motor 24 and drive the transmission body
20 with the motor 24 upon determining the derailleur 22 has been
actuated to change the transmission ratio R and the predetermined
condition related to pedaling is satisfied.
[0150] The controller 72 is configured to control the electric
actuator 48 so that the shift stage of the derailleur 22 approaches
a predetermined shift stage or the transmission ratio R approaches
a predetermined transmission ratio R in a case where the
human-powered vehicle 10 is decelerated. The controller 72 is
configured to control the electric actuator 48 and change the shift
stage of the derailleur 22 one stage at a time in a case where a
difference of the predetermined shift stage and the present shift
stage of the derailleur 22 or a difference of the predetermined
transmission ratio R and the present transmission ratio R is less
than or equal to a predetermined value. The controller 72 is
configured to control the electric actuator 48 so as to
continuously actuate the derailleur 22 over a plurality of shift
stages upon determining either the difference of the predetermined
shift stage and the present shift stage of the derailleur 22 or the
difference of the predetermined transmission ratio R and the
present transmission ratio R exceeds the predetermined value.
[0151] Information related to the predetermined shift stage or
information related to the predetermined transmission ratio R is,
for example, stored in the storage 74 as the target transmission
ratio R in a case where the human-powered vehicle 10 is
decelerated. In a case where shifting is performed in
correspondence with the information related to the predetermined
shift stage, it is preferred that the predetermined value is such
that the difference of the predetermined shift stage and the
present shift stage of the derailleur 22 corresponds to a range
from one stage to three stages. In a case where shifting is
performed in correspondence with the information related to the
predetermined transmission ratio R, it is preferred that the
predetermined value is such that the difference of the
predetermined transmission ratio R and the present transmission
ratio R corresponds to a range from one stage to three stages if
converted into shift stage.
[0152] Preferably, the controller 72 is configured to control the
electric actuator 48 so that a fifth time T5 during which the
derailleur 22 is actuated over a plurality of shift stages in a
case where the vehicle speed V of the human-powered vehicle 10 is
less than or equal to a predetermined fifth speed V5 becomes
shorter than a sixth time T6 during which the derailleur 22 is
actuated over a plurality of shift stages in a case where the
vehicle speed V of the human-powered vehicle 10 exceeds the
predetermined fifth speed V5. In a case where the second rotational
body 18 includes one or more shift facilitation regions that are
suitable for shifting, as the vehicle speed V increases, it takes a
shorter time for the shifting facilitation region of the second
rotational body 18, after passing through the region in which the
transmission body 20 is moved by the derailleur 22, to again pass
through to the region in which the transmission body 20 moves.
[0153] Preferably, the fifth speed V5 is less than or equal to 10
km per hour. Preferably, the fifth time T5 is set to a sufficient
time to change the transmission ratio R over a plurality of shift
stages in correspondence with the shifting control signal in a case
where the vehicle speed V of the human-powered vehicle 10 is less
than or equal to the predetermined fifth speed V5. Preferably, the
sixth time T6 is set to a sufficient time to change the
transmission ratio R over a plurality of shift stages in
correspondence with the shifting control signal in a case where the
vehicle speed V of the human-powered vehicle 10 exceeds the
predetermined fifth speed V5.
[0154] The controller 72 can be configured to change the actuation
speed of the derailleur 22 in a case where the derailleur 22 is
actuated over a plurality of shift stages. The controller 72 can be
configured to control the electric actuator 48 to stop the
derailleur 22 each time the shift stage is changed by one stage and
change a predetermined interval until the next actuation starts.
The predetermined interval is, for example, in a range that is
greater than or equal to 0.5 seconds and less than 1 second in a
case where the vehicle speed V is less than or equal to 15 km per
hour, and in a range that is greater than or equal to 0.25 seconds
and less than 0.5 seconds in a case where the vehicle speed V is
greater than 15 km per hour. The shifting condition can include a
condition for shifting the derailleur 22 over a plurality of shift
stages or can include only a condition for shifting the derailleur
22 by only one stage.
[0155] Preferably, the predetermined condition related to pedaling
is satisfied in at least one of a case where the human driving
force H input to the crank axle 12 is less than or equal to a
predetermined driving force HX, a case where the rotational speed
NC of the crank axle 12 is less than or equal to a second
rotational speed NC2, and a case where the crank axle 12 is
oscillating. Preferably, the predetermined condition related to
pedaling determines that pedaling is stopped. Preferably, the
predetermined driving force HX and the second rotational speed NC2
have values that are appropriate for determining a stoppage of
rotation of the crank axle 12 of the human-powered vehicle 10. The
predetermined driving force HX has, for example, a value in a range
from 0 Nm to 3 Nm. The second rotational speed NC2 has, for
example, a value in a range from 0 rpm to 5 rpm. The case where the
crank axle 12 is oscillating includes a case where the crank axle
12 is not completely stopped and a rotational angle CC of the crank
axle 12 is maintained in a predetermined angle range. The
predetermined angle range is, for example, greater than or equal to
1 degree and less than or equal to 20 degrees.
[0156] For example, in a case where the feet of the rider are on
the pedals 34 and the rider is not pedaling, the crank axle 12 can
oscillate. In a case where rotation of the crank axle 12 is stopped
or the crank axle 12 is oscillating, the first rotational body 14
and the second rotational body 18 are not rotated by the human
driving force H. Therefore, shifting cannot be performed even in a
case where the derailleur 22 is actuated. In a case where the
derailleur 22 is actuated to change the transmission ratio R and
rotation of the crank axle 12 is stopped or the crank axle 12 is
oscillating, the controller 72 is configured to control the motor
24 and drive the transmission body 20 with the motor 24, so that
the first rotational body 14 and the second rotational body 18 are
rotated. This allows the derailleur 22 to perform shifting.
[0157] The controller 72 includes at least one of the following
configurations (B1), (B2), (B3), and (B4) and controls the motor 24
in a case where the derailleur 22 is actuated to change the
transmission ratio R and the predetermined condition related to
pedaling is satisfied. The controller 72 can include two, three, or
all of the configurations (B1), (B2), (B3), and (B4).
[0158] (B1) The controller 72 is configured control the motor 24
and drive the transmission body 20 with the motor 24 so as to
increase the rotational speed NM of the motor 24 as a difference DN
of the first rotational speed N1, which is calculated in
correspondence with the rotational speed NW of the wheel 16 and the
transmission ratio R, and the predetermined rotational speed NX or
a rotational speed NA in a predetermined range increases.
Preferably, the first rotational speed N1, the predetermined
rotational speed NX, and the rotational speed NA in the
predetermined range correspond to the rotational speed NC of the
crank axle 12. The predetermined rotational speed NX and the
rotational speed NA in the predetermined range are greater than or
equal to 50 rpm and less than or equal to 80 rpm.
[0159] (B2) The controller 72 is configured to change the
rotational speed of the motor 24 in correspondence with the
acceleration of the human-powered vehicle 10 in the traveling
direction. The controller 72 is configured to control the motor 24
and drive the transmission body 20 with the motor 24 to increase
the rotational speed NM of the motor 24 as the acceleration of the
human-powered vehicle 10 increases.
[0160] (B3) The controller 72 is configured to control the motor 24
to change at least one of a rotational angle CA of the motor 24 and
the output torque MT of and the motor 24 in correspondence with a
state of the human-powered vehicle 10. The state of the
human-powered vehicle 10 includes at least one of the rotational
speed NW of the wheel 16 and the transmission ratio R. Preferably,
the controller 72 is configured to control the motor 24 so as to
increase at least one of a rotational angle MN of the motor 24 and
the output torque MT as the difference of the first rotational
speed N1, which is calculated in correspondence with the rotational
speed NW of the wheel 16 and the transmission ratio R, and the
predetermined rotational speed NX or the rotational speed NA in the
predetermined range increases.
[0161] (B4) The controller 72 is configured to control the motor 24
to change at least one of the rotational angle CA of the motor 24
and the output torque MT of and the motor 24 in correspondence with
a state of the human-powered vehicle 10. The state of the
human-powered vehicle 10 includes a change in the vehicle speed V
of the human-powered vehicle 10 or a change in the rotational speed
NW of the wheel 16. Preferably, the controller 72 is configured to
control the motor 24 and drive the transmission body 20 with the
motor 24 to increase at least one of the rotational angle of the
motor 24 and the output torque MT as an acceleration or a
deceleration of the human-powered vehicle 10 increases in the
traveling direction or an acceleration or a deceleration of the
rotational speed NW of the wheel 16 in a rotational direction
corresponding to the traveling direction of the human-powered
vehicle 10 increases. The controller 72 is configured to calculate
the acceleration or deceleration of the human-powered vehicle 10 in
the traveling direction, for example, by differentiating the
vehicle speed V. The human-powered vehicle 10 can include an
acceleration sensor that detects information related to the
acceleration or deceleration of the human-powered vehicle 10 in the
traveling direction. In a case where the human-powered vehicle 10
includes an acceleration sensor, the controller 72 receives
information detected by the acceleration sensor.
[0162] Instead of or in addition to at least one of the
configurations (B1), (B2), (B3), and (B4), the human-powered
vehicle 10 can be configured to control so that output of the motor
24 differs in correspondence with the transmission ratio R or the
shift stage. Preferably, the storage 74 stores information related
to the transmission ratio R in association with information related
to output of the motor 24. The association of information related
to the transmission ratio R with information related to output of
the motor 24 can be stored as a table or a function. The controller
72 is configured to control the motor 24 in correspondence with the
detection result of the transmission state sensor 88 and the
information stored in the storage 74.
[0163] Preferably, the controller 72 is configured to control the
motor 24 so as not to drive the transmission body 20 if the first
operating device 44 is operated even upon determining the
derailleur 22 has been actuated to change the transmission ratio R
and the predetermined condition related to pedaling is satisfied.
The controller 72 is configured to control the motor 24 so as not
to drive the transmission body 20 if a non-driving condition of the
motor 24 is satisfied even upon determining the derailleur 22 has
been actuated to change the transmission ratio R and the
predetermined condition related to pedaling is satisfied. The
non-driving condition of the motor 24 includes at least one of a
first non-driving condition and a second non-driving condition. In
a case where only one or both of the first non-driving condition
and the second non-driving condition are satisfied, the controller
72 can be configured to control so that the motor 24 is
stopped.
[0164] The first non-driving condition is satisfied at least one of
during operation of the first operating device 44 and in a
predetermined period after the first operating device 44 is
operated. In a case where the controller 72 controls the motor 24
under the first non-driving condition, the controller 72 is
configured to control the motor 24 so as not to drive the
transmission body 20 at least one of during operation of the first
operating device 44 and in the predetermined period after the first
operating device 44 is operated even upon determining the
derailleur 22 has been actuated to change the transmission ratio R
and the predetermined condition related to pedaling is
satisfied.
[0165] The second non-driving condition is satisfied in a case
where the first operating portion 44A of the first operating device
44 is operated or a predetermined operation is performed on the
first operating device 44. In a case where the controller 72
controls the motor 24 under the second non-driving condition, the
controller 72 is configured to control the motor 24 so as not to
drive the transmission body 20 if the first operating portion 44A
of the first operating device 44 is operated or the predetermined
operation is performed on the first operating portion 44A even upon
determining the derailleur 22 has been actuated to change the
transmission ratio R and the predetermined condition related to
pedaling is satisfied.
[0166] Instead of or in addition to at least one of the first
non-driving condition and the second non-driving condition, the
controller 72 can be configured to control the motor 24 so as not
to drive the transmission body 20 upon determining at least one of
the following third to sixth non-driving conditions is
satisfied.
[0167] The third non-driving condition is satisfied in a case where
the acceleration of the human-powered vehicle 10 in the traveling
direction is greater than a first value. The fourth non-driving
condition is satisfied in a case where the deceleration of the
human-powered vehicle 10 in the traveling direction is greater than
a second value. The fifth non-driving condition is satisfied in a
case where the acceleration of the rotational speed NW of the wheel
16 in the rotational direction corresponding to the traveling
direction of the human-powered vehicle 10 is greater than a third
value. The sixth non-driving condition is satisfied in a case where
the deceleration of the rotational speed NW of the wheel 16 in the
rotational direction corresponding to the traveling direction of
the human-powered vehicle 10 is greater than a fourth value. The
controller 72 is configured to calculate at least one of the
acceleration and deceleration of the rotational speed NW of the
wheel 16 in the rotational direction corresponding to the traveling
direction of the human-powered vehicle 10, for example, by
differentiating the rotational speed NW of the wheel 16. The first
value and the third value correspond to a quick acceleration of the
human-powered vehicle 10 and are set in advance based on, for
example, tests. The second value and the fourth value correspond to
a quick deceleration of the human-powered vehicle 10 and are set in
advance based on, for example, tests. In a case where the
human-powered vehicle 10 is quickly accelerating or decelerating in
the traveling direction, the controller 72 restricts changes in the
transmission ratio R.
[0168] In a case where the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 upon determining
the predetermined condition related to pedaling is satisfied, the
controller 72 is configured to control the motor 24 to stop driving
the transmission body 20 with the motor 24 upon determining a stop
condition of the motor 24 is satisfied. The stop condition of the
motor 24 includes at least one of a first stop condition and a
second stop condition. In a case where only one or both of the
first stop condition and the second stop condition are satisfied,
the controller 72 can be configured to control so that the motor 24
is stopped.
[0169] The first stop condition relates to the load L of the motor
24. In a case where the motor 24 is controlled under the first stop
condition, for example, the controller 72 is configured to control
the motor 24 and drive the transmission body 20 with the motor 24
upon determining the derailleur 22 has been actuated to change the
transmission ratio R and the predetermined condition related to
pedaling is satisfied, and stop driving the transmission body 20
with the motor 24 in correspondence with the load L of the motor
24. The first stop condition is satisfied, for example, in a case
where the load L of the motor 24 is greater than or equal to a
predetermined load L1. Preferably, in a case where the derailleur
22 is actuated to change the transmission ratio R, the
predetermined condition related to pedaling is satisfied, and the
load L of the motor 24 is greater than or equal to the
predetermined load L1, the controller 72 is configured to control
the motor 24 so that the motor 24 is stopped.
[0170] The predetermined load L1 is set to, for example, a value
that is greater than a load L generated to rotate the rear wheel
16A only with driving force of the motor 24 in a case where the
rear wheel 16A of the human-powered vehicle 10 is not in contact
with the ground and is freely rotatable, and less than a load L
generated to propel the human-powered vehicle 10 on a level road.
In this case, in a state where the rear wheel 16A of the
human-powered vehicle 10 is not in contact with the ground and is
freely rotatable, the transmission body 20 is driven by the motor
24. In a state where the rear wheel 16A of the human-powered
vehicle 10 is in contact with the ground, the human-powered vehicle
10 will not be propelled on the level road only by driving force of
the motor 24.
[0171] The second stop condition relates to the vehicle speed V of
the human-powered vehicle 10 or the rotational speed NW of the
wheel 16. The second stop condition is satisfied in a case where
the vehicle speed V of the human-powered vehicle 10 is less than or
equal to the first speed V1 or the rotational speed NW of the wheel
16 is less than or equal to the predetermined rotational speed NX.
In a case where the motor 24 is controlled under the second stop
condition, the controller 72 is configured to control the motor 24
and stop driving the transmission body 20, for example, upon
determining the predetermined condition related to pedaling is
satisfied and the vehicle speed V of the human-powered vehicle 10
becomes less than or equal to the first speed V1 or the rotational
speed NW of the wheel 16 becomes less than or equal to the
predetermined rotational speed NX. The first speed V1 and the
predetermined rotational speed NX have values that are, for
example, appropriate for determining a stoppage of traveling of the
human-powered vehicle 10. The first speed V1 has, for example, a
value in a range from 0 km/h to 3 km/h. The predetermined
rotational speed NX has, for example, a value in a range from 0 rpm
to 5 rpm.
[0172] Even in a case where the human-powered vehicle 10 is
coasting, the controller 72 restricts changes in the transmission
ratio R in a case where the human-powered vehicle 10 stops. In a
case where the motor 24 is controlled under the second stop
condition, the controller 72 can be configured to control the motor
24 and stop driving the transmission body 20, for example, upon
determining the predetermined condition related to pedaling is
satisfied, the predetermined condition related to a travel state of
the human-powered vehicle 10 is satisfied, and the vehicle speed V
of the human-powered vehicle 10 becomes less than or equal to the
first speed V1 or the rotational speed NW of the wheel 16 becomes
less than or equal to the predetermined rotational speed NX. In a
case where the controller 72 changes the transmission ratio R with
the derailleur 22 based on the traveling condition regardless of an
intention of the rider, this configuration avoids a situation in
which the transmission ratio R is decreased in a case where the
human-powered vehicle 10 stops. The controller 72 can be configured
to set a lower limit value of the transmission ratio R upon
determining either the vehicle speed V becomes less than or equal
to the first speed V1 or the rotational speed NW of the wheel 16
becomes less than or equal to the predetermined rotational speed
NX.
[0173] In a case where the vehicle speed V becomes less than or
equal to the first speed V1 or the rotational speed NW of the wheel
16 becomes less than or equal to the predetermined rotational speed
NX, the controller 72 changes the transmission ratio R with the
derailleur 22 so that the transmission ratio R will not become less
than the lower limit value. In this case, the human-powered vehicle
10 will not resume traveling in a state where the transmission
ratio R is less than the lower limit value. Thus, the human-powered
vehicle 10 resumes traveling in a preferred manner. The lower limit
value of the transmission ratio R is stored in the storage 74. The
controller 72 can be configured to change the lower limit value of
the transmission ratio R stored in the storage 74 in accordance
with operation performed by the user on the first operating device
44 or an external device 90. The external device 90 includes, for
example, at least one of a personal computer, a tablet computer,
and a smartphone.
[0174] Instead of or in addition to the configuration that controls
the motor 24 under at least one of the first stop condition and the
second stop condition, the controller 72 can be configured to stop
the motor 24 based on at least one of a third stop condition and a
fourth stop condition. The third stop condition is satisfied in a
case where the motor 24 is driven but the transmission ratio R
remains the same. The fourth stop condition is satisfied in a case
where braking force of a brake device of the human-powered vehicle
10 is greater than or equal to a predetermined braking force.
[0175] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 5. In a case where
electric power is supplied to the controller 72, the controller 72
starts the process and proceeds to step S11 of the flowchart
illustrated in FIG. 5. Upon completion of the flowchart illustrated
in FIG. 5, the controller 72 repeats the process from step S11 in
predetermined cycles until the supply of electric power is
stopped.
[0176] In step S11, the controller 72 determines whether the
shifting execution condition is satisfied. In a case where the
shifting condition is not satisfied, the controller 72 ends the
process. In a case where the shifting condition is satisfied, the
controller 72 proceeds to step S12.
[0177] In step S12, the controller 72 determines the target
transmission ratio R and proceeds to step S10. In step S12, a
target shift stage can be determined instead of the target
transmission ratio R.
[0178] In step S10, the controller 72 determines whether shifting
is performable. In a case where it is determined that shifting is
performable, the controller 72 proceeds to step S13. In a case
where it is determined that shifting is not performable, the
controller 72 ends the process. The derailleur 22, the first
rotational body 14 and the second rotational body 18 form a
transmission. The transmission is configured to perform shifting in
a range that is greater than or equal to a minimum transmission
ratio R and less than or equal to a maximum transmission ratio R
that are determined by the first rotational body 14 and the second
rotational body 18. In a case where the present transmission ratio
R is the minimum transmission ratio R, the controller 72 is
configured not to execute control that decreases the transmission
ratio R.
[0179] In a case where the present transmission ratio R is the
maximum transmission ratio R, the controller 72 is configured not
to execute control that increases the transmission ratio R. The
controller 72 determines, for example, whether the target
transmission ratio R is greater than or equal to the minimum
transmission ratio R and less than or equal to the maximum
transmission ratio R, which are determined by the first rotational
body 14 and the second rotational body 18. Information related to
the minimum transmission ratio R and the maximum transmission ratio
R is stored in the storage 74. In step S10, in a case where the
target transmission ratio R is greater than or equal to the minimum
transmission ratio R and less than or equal to the maximum
transmission ratio R, which are determined by the first rotational
body 14 and the second rotational body 18, the controller 72
determines that shifting is performable and proceeds to step S13.
In step S10, in a case where the target transmission ratio R is not
greater than or equal to the minimum transmission ratio R and not
less than or equal to the maximum transmission ratio R, which are
determined by the first rotational body 14 and the second
rotational body 18, the controller 72 determines that shifting is
not performable and ends the process.
[0180] In a case where the target shift stage is determined instead
of the target transmission ratio R in step S12, the controller 72
can compare the target shift stage with information related to the
shift stage stored in the storage 74 in step S10. For example, the
target shift stage is a thirteenth shift stage and the storage 74
stores information related to first to twelfth shift stages, the
controller 72 determines that shifting is not performable and ends
the process.
[0181] In step S13, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is satisfied,
the controller 72 proceeds to step S20.
[0182] In step S20, the controller 72 determines whether the
non-driving condition is satisfied. In a case where the non-driving
condition is not satisfied, the controller 72 proceeds to step S30.
In a case where the non-driving condition is satisfied, the
controller 72 ends the process.
[0183] In step S30, the controller 72 determines whether shifting
is prohibited. In step S30, in a case where it is determined that
shifting is not prohibited, the controller 72 proceeds to step S14.
In step S30, in a case where it is determined that shifting is
prohibited, the controller 72 ends the process. The controller 72
determines whether shifting is prohibited, for example, in
accordance with at least one of the configurations (B1), (B2),
(B3), and (B4). For example, in a case where the controller 72
includes the configuration (B1), the controller 72 determines that
shifting is prohibited in a case where the target transmission
ratio R is greater than the present transmission ratio R. In a case
where the target transmission ratio R is less than the present
transmission ratio R, the controller 72 determines that shifting is
not prohibited.
[0184] For example, in a case where the controller 72 includes the
configuration (B2), the controller 72 determines that shifting is
prohibited until the first condition related to shifting is
satisfied upon determining the derailleur 22 has been actuated, and
determines that shifting is not prohibited in a case where the
first condition related to shifting is satisfied. For example, in a
case where the controller 72 includes the configuration (B3), the
controller 72 determines that shifting is prohibited until the
second condition related to shifting is satisfied in a case where
the electric actuator 48 and the motor 24 are controlled to
increase or decrease the transmission ratio R a predetermined
number of times or more within the predetermined third time T3. In
a case where the second condition related to shifting is satisfied,
the controller 72 determines that shifting is not prohibited.
[0185] The predetermined third time T3 is, for example, included in
a range from 1 second to 10 seconds. The predetermined number of
times is, for example, included in a range from two times to ten
times. For example, in a case where the controller 72 includes the
configuration (B4), the controller 72 determines that shifting is
prohibited upon determining the vehicle speed V of the
human-powered vehicle 10 is less than or equal to the first speed
V1, and determines that shifting is not prohibited upon determining
the vehicle speed V of the human-powered vehicle 10 exceeds the
first speed V1. For example, in a case where the controller 72
includes the configuration (B4), the controller 72 determines that
shifting is prohibited upon determining the rotational speed NW of
the wheel 16 is less than or equal to the predetermined rotational
speed NX, and determines that shifting is not prohibited upon
determining the rotational speed NW of the wheel 16 exceeds the
predetermined rotational speed NX.
[0186] In step S14, the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 and then proceeds
to step S15. In step S15, the controller 72 controls the electric
actuator 48 so that the derailleur 22 starts a shifting action to
obtain the target transmission ratio R, and then proceeds to step
S16. In the present embodiment, the controller 72 executes steps
S14 and S15 to control the motor 24 and the electric actuator 48 so
that the motor 24 is driven before the electric actuator 48 starts
actuating. In other words, the controller 72 executes steps S14 and
S15 to control the motor 24 and the electric actuator 48 so that
the transmission body 20 is driven before the derailleur 22 starts
to be actuated.
[0187] The controller 72 can execute steps S14 and S15 to control
the motor 24 and the electric actuator 48 so that the electric
actuator 48 starts actuating at the same time as the motor 24
starts driving. In other words, the controller 72 can execute steps
S14 and S15 to control the motor 24 and the electric actuator 48 so
that the derailleur 22 starts actuating at the same time as the
transmission body 20 starts to be driven. The controller 72 can
execute steps S14 and S15 to control the motor 24 and the electric
actuator 48 so that the motor 24 is driven after the electric
actuator 48 starts actuating. In other words, the controller 72 can
execute steps S14 and S15 to control the motor 24 and the electric
actuator 48 so that the transmission body 20 is driven after the
derailleur 22 starts to be actuated.
[0188] In step S16, the controller 72 determines whether the stop
condition of the motor 24 is satisfied. Upon determining the stop
condition of the motor 24 is not satisfied, the controller 72
proceeds to step S17. In step S17, the controller 72 determines
whether shifting is completed. Upon determining shifting is not
completed, the controller 72 proceeds to step S16. In step S16,
upon determining the stop condition of the motor 24 is satisfied,
the controller 72 proceeds to step S18. In step S17, upon
determining shifting is completed, the controller 72 proceeds to
step S18. In step S18, the controller 72 controls the motor 24 to
stop the motor 24 and then ends the process.
[0189] In step S13, upon determining the predetermined condition
related to pedaling is not satisfied, the controller 72 proceeds to
step S19. In step S19, the controller 72 controls the electric
actuator 48 and actuates the derailleur 22 with the electric
actuator 48 to obtain the target transmission ratio R, and then
ends the process.
[0190] Preferably, the controller 72 is configured to receive a
signal for adjusting the position of the derailleur 22. The
controller 72 is configured drive the motor 24 in a case where the
signal for adjusting the position of the derailleur 22 is received,
and is configured to control the electric actuator 48 so that the
position of the derailleur 22 corresponds to a first transmission
ratio R1 in a case where the first transmission ratio R1
corresponding to the rotational speed of the motor 24 and the
rotational speed NW of the wheel 16 does not correspond to the
present position of the derailleur 22.
[0191] The signal for adjusting the position of the derailleur 22
is, for example, transmitted from the external device 90 connected
to the controller 72. The signal for adjusting the position of the
derailleur 22 can be transmitted from the first operating device 44
or the second operating device 45. For example, the second
operating device 45 can be configured to transmit the signal for
adjusting the position of the derailleur 22 in a case where the
second operating portion 45A and the third operating portion 45B
are simultaneously operated. Preferably, the control device 70
includes an interface 89. The interface 89 includes at least one of
a wireless communication device and a connection port of a
communication line. The interface 89 is connected to the controller
72 so as to communicate with the controller 72. In a case where the
interface 89 includes a wireless communication device, the
interface 89 is connected to perform communication with at least
one of the external device 90, the first operating device 44, and
the second operating device 45, for example, through near-field
communication such as Bluetooth.RTM. or ANT+.RTM..
[0192] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to adjust the position of the
derailleur 22 will now be described with reference to FIG. 6. In a
case in which electric power is supplied to the controller 72, the
controller 72 starts the process and proceeds to step S21 of the
flowchart illustrated in FIG. 6. Upon completion of the flowchart
illustrated in FIG. 6, the controller 72 repeats the process from
step S21 in predetermined cycles until the supply of electric power
is stopped. The position of the derailleur 22 is adjusted in a
state where the rear wheel 16A of the human-powered vehicle 10 is
not in contact with the ground and is freely rotatable.
[0193] In step S21, the controller 72 determines whether a signal
for adjusting the position of the derailleur 22 is received. In a
case where the signal for adjusting the position of the derailleur
22 is not received, the controller 72 ends the process. In a case
where the signal for adjusting the position of the derailleur 22 is
received, the controller 72 proceeds to step S22.
[0194] In step S22, the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 and then proceeds
to step S23. In step S23, the controller 72 determines whether the
motor 24 is rotating. Upon determining that the motor 24 is
rotating, the controller 72 proceeds to step S24. Upon determining
that the motor 24 is not rotating, the controller 72 proceeds to
step S28. In step S23, instead of determining whether the motor 24
is rotating, the controller 72 can determine whether the first
rotational body 14 is rotating, whether the second rotational body
18 is rotating, or whether the rear wheel 16A is rotating. In any
one of a case where it is determined that the first rotational body
14 is rotating, a case where it is determined that the second
rotational body 18 is rotating, and a case where it is determined
that the rear wheel 16A is rotating, the controller 72 proceeds to
step S24.
[0195] In step S24, the controller 72 determines whether the first
transmission ratio R1 corresponding to the rotational speed NM of
the motor 24 and the rotational speed NW of the wheel 16
corresponds to the present position of the derailleur 22. For
example, the controller 72 determines whether the first
transmission ratio R1 corresponding to the rotational speed NM of
the motor 24 and the rotational speed NW of the wheel 16
corresponds to the present position of the derailleur 22, for
example, based on the present position of the derailleur 22
detected by the transmission state sensor 88. In a case where the
first transmission ratio R1 corresponding to the rotational speed
NM of the motor 24 and the rotational speed NW of the wheel 16
corresponds to the present position of the derailleur 22, the
controller 72 proceeds to step S28. In a case where the first
transmission ratio R1 corresponding to the rotational speed NM of
the motor 24 and the rotational speed NW of the wheel 16 does not
correspond to the present position of the derailleur 22, the
controller 72 proceeds to step S25.
[0196] In step S25, the controller 72 controls the electric
actuator 48 and starts actuating the derailleur 22 to decrease or
increase the transmission ratio R, and then proceeds to step S26.
In step S25, the controller 72 determines whether the derailleur 22
is actuated to increase the transmission ratio or to decrease the
transmission ratio in accordance with the first transmission ratio
R1, which corresponds to the rotational speed NM of the motor 24
and the rotational speed NW of the wheel 16, and the present
position of the derailleur 22 and controls the electric actuator
48.
[0197] In step S26, the controller 72 determines whether the first
transmission ratio R1 corresponding to the rotational speed NM of
the motor 24 and the rotational speed NW of the wheel 16
corresponds to the present position of the derailleur 22. The
controller 72 executes the determination process of step S26, for
example, in the same manner as that of step S24. In a case where
the first transmission ratio R1 corresponding to the rotational
speed NM of the motor 24 and the rotational speed NW of the wheel
16 does not correspond to the present position of the derailleur
22, the controller 72 again executes step S26. In a case where the
first transmission ratio R1 corresponding to the rotational speed
NM of the motor 24 and the rotational speed NW of the wheel 16
corresponds to the present position of the derailleur 22, the
controller 72 proceeds to step S27.
[0198] In step S27, the controller 72 controls the electric
actuator 48 to stop actuating the derailleur 22 and proceeds to
step S28. In step S28, the controller 72 controls the motor 24 to
stop the motor 24 and ends the process.
[0199] In the present embodiment, in a case where the motor 24 is
driven in step S14, it is preferred that the controller 72 drives
the motor 24 so that the rotational speed of the second rotational
body 18 driven by the motor 24 is lower than the rotational speed
of the rear wheel 16A. In a case where the rotational speed of the
second rotational body 18 driven by the motor 24 is lower than the
rotational speed of the rear wheel 16A, driving force of the motor
24 is not transmitted to the rear wheel 16A. In a case where the
motor 24 is driven in step S14, the controller 72 can drive the
motor 24 so that the load L of the motor 24 is less than a load L
that is generated to propel the human-powered vehicle 10 on a level
road.
Second Embodiment
[0200] A second embodiment of a control device 70 will now be
described with reference to FIGS. 7 and 8. The control device 70 of
the second embodiment is the same as the control device 70 of the
first embodiment except that the second embodiment is switchable
between a first mode and a second mode. Thus, the same reference
characters are given to those components that are the same as the
corresponding components of the first embodiment. Such components
will not be described in detail.
[0201] The controller 72 can be configured to be switchable between
the first mode and the second mode. The controller 72 is configured
to control the motor 24 in the first mode so as to drive the
transmission body 20 in correspondence with a state of the
human-powered vehicle 10 upon determining the second operating
device 45 has been operated and the predetermined condition related
to pedaling is satisfied. The controller 72 is configured to
control the motor 24 in the second mode so as not to drive the
transmission body 20 with the motor 24 upon determining the second
operating device 45 has been operated and the predetermined
condition related to pedaling is satisfied.
[0202] The controller 72 is configured to be switchable between the
first mode and the second mode, for example, in correspondence with
operation of at least one of the second operating device 45 and the
external device 90. In the first mode, the controller 72 can be
configured to control the motor 24 so as to drive the transmission
body 20 in correspondence with a state of the human-powered vehicle
10 upon determining the shifting condition is satisfied as a result
of the predetermined condition related to a travel state of the
human-powered vehicle 10 being satisfied and the predetermined
condition related to pedaling is satisfied. In the second mode, the
controller 72 can be configured to control the motor 24 so as not
to drive the transmission body 20 even upon determining the
shifting condition is satisfied as a result of the predetermined
condition related to a travel state of the human-powered vehicle 10
being satisfied and the predetermined condition related to pedaling
is satisfied.
[0203] A process of the controller 72 for switching between the
first mode and the second mode will be described with reference to
FIG. 7. Upon determining electric power is supplied to the
controller 72, the controller 72 starts the process and proceeds to
step S31 of the flowchart illustrated in FIG. 7. Upon completion of
the flowchart illustrated in FIG. 7, the controller 72 repeats the
process from step S31 in predetermined cycles until the supply of
electric power is stopped.
[0204] In step S31, the controller 72 determines whether there is a
request for switching the mode. The controller 72 determines that
there is a request for switching the mode, for example, in a case
where an operation for switching the mode is performed on at least
one of the second operating device 45 and the external device 90.
In a case where there is no request for switching the mode, the
controller 72 ends the process. In a case where there is a request
for switching the mode, the controller 72 proceeds to step S32.
[0205] In step S32, the controller 72 determines whether the
controller 72 is in the first mode. In a case where the controller
72 is in the first mode, the controller 72 proceeds to step S33. In
step S33, the controller 72 switches to the second mode and ends
the process.
[0206] In step S32, in a case where the controller 72 is not in the
first mode, the controller 72 proceeds to step S34. In step S34,
the controller 72 switches to the first mode and ends the
process.
[0207] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIGS. 5 and 8. In a case where
electric power is supplied to the controller 72, the controller 72
starts the process and proceeds to step S11 of the flowchart
illustrated in FIG. 5. Upon completion of the flowchart illustrated
in FIG. 5, the controller 72 repeats the process from step S11 in
predetermined cycles until the supply of electric power is
stopped.
[0208] In a case where an affirmative determination is made in step
S13, the controller 72 proceeds to step S41 shown in FIG. 8. In
step S41, in a case where the controller 72 is in the first mode,
the controller 72 proceeds to step S20 shown in FIG. 5. In step
S41, in a case where the controller 72 is not in the first mode,
the controller 72 ends the process.
Third Embodiment
[0209] A third embodiment of a control device 70 will now be
described with reference to FIGS. 9 and 10. The control device 70
of the third embodiment is the same as the control devices 70 of
the first and second embodiments except that the controller 72 does
not control the derailleur 22 with the electric actuator 48. Thus,
the same reference characters are given to those components that
are the same as the corresponding components of the first and
second embodiments. Such components will not be described in
detail.
[0210] In the present embodiment, the derailleur 22 is, for
example, connected to a manual transmission operating device by a
Bowden cable and is configured to be a cable-type transmission
configured to be actuated by the user mechanically operating the
Bowden cable using the manual transmission operating device. The
manual transmission operating device is, for example, provided on
the handlebar 42.
[0211] In the present embodiment, the transmission state sensor 88
can be provided on the derailleur 22, the Bowden cable, or the
manual transmission operating device. The transmission state sensor
88 is configured to detect at least one of movement of a movable
portion of the derailleur 22, movement of the Bowden cable, and
movement of the manual transmission operating device.
[0212] In the present embodiment, the controller 72 is configured
to control the motor 24 and drive the transmission body 20 with the
motor 24 upon determining the derailleur 22 has been actuated to
change the transmission ratio R and a predetermined condition
related to pedaling is satisfied.
[0213] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 10. Upon determining electric power is supplied to the
controller 72, the controller 72 starts the process and proceeds to
step S51 of the flowchart illustrated in FIG. 10. Upon completion
of the flowchart illustrated in FIG. 10, the controller 72 repeats
the process from step S51 in predetermined cycles until the supply
of electric power is stopped.
[0214] Steps S13, S20, S14, S16, and S18 in the flowchart
illustrated in FIG. 10 are executed in the same manner as steps
S13, S20, S14, S16, and S18 in the flowchart illustrated in FIG.
5.
[0215] In the process shown in FIG. 10, in step S51, upon
determining a shifting operation is detected, the controller 72
proceeds to step S13. The controller 72 detects a shifting
operation, for example, in a case where output signals of the
transmission state sensor 88 change. In step S51, in a case where
the shifting operation is not detected, the controller 72 ends the
process. In step S51, in a case where the shifting operation is
detected, the controller 72 proceeds to step S13. In a case where
an affirmative determination is made in step S13, the controller 72
proceeds to step S20. In a case where an affirmative determination
is made in step S20, the controller 72 proceeds to step S14.
[0216] In step S14, the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 and then proceeds
to step S16. In a case where a negative determination is made in
step S16, the controller 72 proceeds to step S57. In step S57, the
controller 72 determines whether the shifting operation is stopped.
In step S57, in a case where it is determined that the shifting
operation is stopped, the controller 72 proceeds to step S18. If it
is determined that the shifting operation is not stopped, the
controller 72 proceeds to step S16. In the process shown in FIG.
10, in step S13, in a case where the predetermined condition
related to pedaling is not satisfied, the controller 72 ends the
process.
Fourth Embodiment
[0217] The control device 70 in accordance with a fourth embodiment
will now be described with reference to FIGS. 11 and 12. The
control device 70 in accordance with the fourth embodiment differs
from the control device 70 in accordance with the first embodiment
and the second embodiment only in that the controller 72 has a
first shifting mode and a second shifting mode. Thus, same
reference characters are given to those elements that are the same
as the corresponding elements of the first embodiment. Such
elements will not be described in detail.
[0218] The human-powered vehicle 10 of the present embodiment
includes a transmission operating device 92. Preferably, the
transmission operating device 92 is configured in the same manner
as at least one of the second operating device 45 and the third
operating device of the first embodiment. The transmission
operating device 92 can differ in configuration from the second
operating device 45.
[0219] The controller 72 is configured to control the electric
actuator 48 and the motor 24. The control device 70 is configured
to be switchable between the first shifting mode and the second
shifting mode. In the first shifting mode, the electric actuator 48
is controlled in accordance with the state of the human-powered
vehicle 10. In the second shifting mode, the electric actuator 48
is controlled in accordance with the operation of the transmission
operating device 92 provided on the human-powered vehicle 10.
Preferably, the first shifting mode corresponds to the automatic
shifting mode of the first embodiment, and the second shifting mode
corresponds to the manual shifting mode of the first embodiment.
Preferably, the first shifting mode and the second shifting mode
are switched through an operation similar to that performed to
switch between the automatic shifting mode and the manual shifting
mode.
[0220] The control device 70 is configured to be switchable between
a third mode and a fourth mode in the first shifting mode. In the
third mode, the control device 70 is configured to control the
motor 24 and drive the transmission body 20 in accordance with the
state of the human-powered vehicle 10 upon determining the
derailleur 22 has been actuated to change the transmission ratio R
and a predetermined condition related to pedaling is satisfied. In
the fourth mode, the control device 70 is configured to control the
motor 24 so as not to drive the transmission body 20 even upon
determining the derailleur 22 has been actuated to change the
transmission ratio and the predetermined condition related to
pedaling is satisfied.
[0221] A process for switching the controller 72 between the third
mode and the fourth mode in the first shifting mode will now be
described with reference to FIG. 12. In a case where the controller
72 is supplied with electric power, the controller 72 starts the
process and proceeds to step S61 of the flowchart illustrated in
FIG. 12. Upon completion of the flowchart illustrated in FIG. 12,
the controller 72 repeats the process from step S61 in
predetermined cycles until the supply of electric power is
stopped.
[0222] In step S61, the controller 72 determines whether there is a
request for switching the first shifting mode. For example, the
controller 72 determines that there is a request for switching the
first shifting mode in a case where the transmission operating
device 92 is operated to switch the first shifting mode. In a case
where there is no request for switching the first shifting mode,
the controller 72 ends the process. In a case where there is a
request for switching the first shifting mode, the controller 72
proceeds to step S62.
[0223] In step S62, the controller 72 determines whether the first
shifting mode is the third mode. If the first shifting mode is the
third mode, the controller 72 proceeds to step S63. In step S63,
the controller 72 switches the first shifting mode to the fourth
mode and then ends the process.
[0224] If it is not in the third mode in step S62, the controller
72 proceeds to step S64. In step S64, the controller 72 switches
the first shifting mode to the third mode and then ends the
process.
Modifications
[0225] The description related to the above embodiments
exemplifies, without any intention to limit, applicable forms of a
control device for a human-powered vehicle and a power transmission
system according to the present disclosure. The control device for
a human-powered vehicle and the power transmission system according
to the present disclosure can be applied to, for example,
modifications of the embodiments that are described below and
combinations of at least two of the modifications that do not
contradict each other. In the modifications described hereinafter,
same reference characters are given to those elements that are the
same as the corresponding elements of the above embodiments. Such
elements will not be described in detail.
[0226] The controller 72 can include at least one of configurations
(A5) and (A6) instead of or in addition to at least one of
configurations (A1), (A2), (A3), and (A4).
[0227] (A5) The controller 72 is configured to control the electric
actuator 48 so that the transmission ratio R is changed only in one
of an increasing direction and a decreasing direction. The
controller 72 can be configured to selectively change the
transmission ratio R in the increasing direction or the decreasing
direction in a case where the derailleur 22 is actuated to change
the transmission ratio R and the predetermined condition related to
pedaling is satisfied. In a case where the derailleur 22 is
actuated to change the transmission ratio R and the predetermined
condition related to pedaling is satisfied, for example, the user
operates the first operating device 44 or the external device 90 to
selectively change the transmission ratio R in the increasing
direction or the decreasing direction.
[0228] (A6) The controller 72 is configured to control the electric
actuator 48 so that the transmission ratio R is changed in a
predetermined shifting range. Information related to the
predetermined shifting range is stored in the storage 74. The
information related to the predetermined shifting range can be
changeably stored in the storage 74. The user operates, for
example, the first operating device 44 or the external device 90 to
change the information related to the predetermined shifting range
stored in the storage 74.
[0229] In a first example of configuration (A6), the predetermined
shifting range includes a range that is less than or equal to a
predetermined third transmission ratio R3. The predetermined third
transmission ratio R3 is less than the maximum transmission ratio R
of the transmission ratio R that is changeable by the derailleur
22. In a second example of configuration (A6), the predetermined
shifting range includes a range that is greater than or equal to a
predetermined fourth transmission ratio R4. The predetermined
fourth transmission ratio R4 is greater than the minimum
transmission ratio R of the transmission ratio R that is changeable
by the derailleur 22.
[0230] Preferably, in configuration (A6), the controller 72 is
configured to control the electric actuator 48 and drive the
transmission body 20 with the motor 24 so that the transmission
ratio R is changed in the predetermined shifting range in at least
one of a case where the derailleur 22 is actuated to change the
transmission ratio R, the predetermined condition related to
pedaling is satisfied, and the vehicle speed V of the human-powered
vehicle 10 is less than or equal to a predetermined sixth speed V6
and a case where the derailleur 22 is actuated to change the
transmission ratio R, the predetermined condition related to
pedaling is satisfied, and the rotational speed N of the crank axle
12 of the human-powered vehicle 10 is less than or equal to a
predetermined third rotational speed N3.
[0231] In configuration (A6), the controller 72 can control the
electric actuator 48 so that the transmission ratio R is changed in
the predetermined shifting range in at least one of a case where
the road on which the human-powered vehicle 10 travels changes from
an uphill to a downhill and a case where the vehicle speed V of the
human-powered vehicle 10 is changed from an increasing state to a
decreasing state. In configuration (A6), the controller 72 can
control the electric actuator 48 so that the transmission ratio R
is changed in the predetermined shifting range in a case where the
road on which the human-powered vehicle 10 travels changes from an
uphill to a downhill and the vehicle speed V of the human-powered
vehicle 10 is changed from an increasing state to a decreasing
state.
[0232] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 so as
to increase the rotational speed of the motor 24 as the difference
of the first rotational speed N1, which is calculated in
correspondence with the rotational speed of the wheel and the
transmission ratio R, and the predetermined rotational speed or the
rotational speed in the predetermined range increases in a case
where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, other configurations can be omitted. In this
modification, the derailleur 22 can be configured to include or not
to include the electric actuator 48.
[0233] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 13. In a case where the controller 72 is supplied with
electric power, the controller 72 starts the process and proceeds
to step S71 of the flowchart illustrated in FIG. 13. Upon
completion of the flowchart illustrated in FIG. 13, the controller
72 repeats the process from step S71 in predetermined cycles until
the supply of electric power is stopped.
[0234] In step S71, the controller 72 determines whether the
derailleur 22 is actuated. For example, in a case where the
shifting execution condition of the first embodiment is satisfied,
the controller 72 determines that the derailleur 22 is actuated.
Preferably, in a case where the shifting execution condition is
satisfied and shifting is performable, the controller 72 determines
that the derailleur 22 is actuated. For example, in step S71, the
controller 72 executes the same process as steps S11, S12, and S10
shown in FIG. 5 of the first embodiment. In a case where an
affirmative determination is made in step S11 and an affirmative
determination is made in step S10, the controller 72 determines
that the derailleur 22 is actuated. The controller 72 can determine
whether the derailleur 22 is actuated in correspondence with an
output of a sensor that detects movement of the derailleur 22, a
sensor that detects movement of the Bowden cable, or a sensor that
detects movement of the transmission operating device 92. In a case
where the derailleur 22 is not actuated, the controller 72 ends the
process. In a case where the derailleur 22 is actuated, the
controller 72 proceeds to step S72.
[0235] In step S72, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S73.
[0236] In step S73, the controller 72 controls the motor 24 so as
to increase the rotational speed of the motor 24 as the difference
of the first rotational speed N1 and the predetermined rotational
speed or the rotational speed in the predetermined range increases,
and then proceeds to step S74. In step S73, the controller 72
controls the motor 24 and drives the transmission body 20 with the
motor 24.
[0237] In step S74, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S73. In a case where shifting is
completed, the controller 72 proceeds to step S75. In step S75, the
controller 72 stops driving the transmission body 20 with the motor
24 and ends the process.
[0238] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 so as
to change the rotational speed of the motor 24 in correspondence
with acceleration of the human-powered vehicle 10 in the traveling
direction and increase the rotational speed of the motor 24 as the
acceleration of the human-powered vehicle 10 increases in a case
where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, other configurations can be omitted. In this
modification, the derailleur 22 can be configured to include or not
to include the electric actuator 48.
[0239] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 14. In a case where the controller 72 is supplied with
electric power, the controller 72 starts the process and proceeds
to step S81 of the flowchart illustrated in FIG. 14. Upon
completion of the flowchart illustrated in FIG. 14, the controller
72 repeats the process from step S81 in predetermined cycles until
the supply of electric power is stopped.
[0240] In step S81, the controller 72 determines whether the
derailleur 22 is actuated. In step S81, the controller 72 executes,
for example, the same process as step S71 shown in FIG. 13. In a
case where the derailleur 22 is not actuated, the controller 72
ends the process. In a case where the derailleur 22 is actuated,
the controller 72 proceeds to step S82.
[0241] In step S82, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S83.
[0242] In step S83, the controller 72 controls the motor 24 so as
to increase the rotational speed of the motor 24 as the
acceleration of the human-powered vehicle 10 increases, and then
proceeds to step S84. In step S83, the controller 72 controls the
motor 24 and drives the transmission body 20 with the motor 24.
[0243] In step S84, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S83. In a case where shifting is
completed, the controller 72 proceeds to step S85. In step S85, the
controller 72 stops driving the transmission body 20 with the motor
24 and ends the process.
[0244] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 to
change at least one of the rotational angle of the motor 24 and the
output torque of the motor 24 in correspondence with the state of
the human-powered vehicle 10 in a case where the derailleur 22 is
actuated to change the transmission ratio R and the predetermined
condition related to pedaling is satisfied, other configurations
can be omitted. In this modification, the derailleur 22 can be
configured to include or not to include the electric actuator
48.
[0245] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 15. In a case where the controller 72 is supplied with
electric power, the controller 72 starts the process and proceeds
to step S91 of the flowchart illustrated in FIG. 15. Upon
completion of the flowchart illustrated in FIG. 15, the controller
72 repeats the process from step S91 in predetermined cycles until
the supply of electric power is stopped.
[0246] In step S91, the controller 72 determines whether the
derailleur 22 is actuated. In step S91, the controller 72 executes,
for example, the same process as step S71 shown in FIG. 13. In a
case where the derailleur 22 is not actuated, the controller 72
ends the process. In a case where the derailleur 22 is actuated,
the controller 72 proceeds to step S92.
[0247] In step S92, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S93.
[0248] In step S93, the controller 72 controls the motor 24 to
change at least one of the rotational speed of the motor 24 and the
output torque of the motor 24 in correspondence with the state of
the human-powered vehicle 10 and then proceeds to step S84. In step
S93, the controller 72 controls the motor 24 and drives the
transmission body 20 with the motor 24. In step S93, in a first
example, the state of the human-powered vehicle 10 includes the
rotational speed of the wheel 16 and the transmission ratio R. The
controller 72 is configured to control the motor 24 to increase at
least one of the rotational speed and the output torque of the
motor 24 as the difference of the first rotational speed N1 and the
predetermined rotational speed or the rotational speed in the
predetermined range increases.
[0249] In step S93, in a second example, the state of the
human-powered vehicle 10 includes a change in the vehicle speed V
of the human-powered vehicle 10 or a change in the rotational speed
of the wheel 16. The controller 72 is configured to control the
motor 24 to increase at least one of the rotational speed and the
output torque of the motor 24 as the acceleration or deceleration
of the human-powered vehicle 10 increases in a traveling direction
or the acceleration or deceleration of the rotational speed of the
wheel 16 increases in a rotational direction corresponding to the
traveling direction of the human-powered vehicle 10.
[0250] In step S94, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S93. In a case where shifting is
completed, the controller 72 proceeds to step S95. In step S95, the
controller 72 stops driving the transmission body 20 with the motor
24 and ends the process.
[0251] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 in a
case where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and is configured to control the motor 24 so as not to
drive the transmission body 20 if the first operating device 44 is
operated even in a case where the derailleur 22 is actuated to
change the transmission ratio R and the predetermined condition
related to pedaling is satisfied, other configurations can be
omitted. In this modification, the derailleur 22 can be configured
to include or not to include the electric actuator 48.
[0252] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 16. In a case where the controller 72 is supplied with
electric power, the controller 72 starts the process and proceeds
to step S101 of the flowchart illustrated in FIG. 16. Upon
completion of the flowchart illustrated in FIG. 16, the controller
72 repeats the process from step S101 in predetermined cycles until
the supply of electric power is stopped.
[0253] In step S101, the controller 72 determines whether the
derailleur 22 is actuated. In step S101, the controller 72
executes, for example, the same process as step S71 shown in FIG.
13. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S102.
[0254] In step S102, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S103.
[0255] In step S103, the controller 72 determines whether the first
operating device 44 is operated. In a case where the first
operating device 44 is operated, the controller 72 ends the
process. In a case where the first operating device 44 is not
operated, the controller 72 proceeds to step S104.
[0256] In step S104, the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 and then proceeds
to step S105.
[0257] In step S105, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S104. In a case where shifting is
completed, the controller 72 proceeds to step S106. In step S106,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0258] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 in a
case where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and stop driving the transmission body 20 with the motor
24 in correspondence with the load L of the motor 24, other
configurations can be omitted. In this modification, the derailleur
22 can be configured to include or not to include the electric
actuator 48.
[0259] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 17. In a case where the controller 72 is supplied with
electric power, the controller 72 starts the process and proceeds
to step S111 of the flowchart illustrated in FIG. 17. Upon
completion of the flowchart illustrated in FIG. 17, the controller
72 repeats the process from step S111 in predetermined cycles until
the supply of electric power is stopped.
[0260] In step S111, the controller 72 determines whether the
derailleur 22 is actuated. In step S111, the controller 72
executes, for example, the same process as step S71 shown in FIG.
13. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S112.
[0261] In step S112, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S113.
[0262] In step S113, the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 and then proceeds
to step S114. In step S114, the controller 72 determines whether
the load L of the motor 24 is greater than or equal to the
predetermined load L1. In a case where the load L of the motor 24
is greater than or equal to the predetermined load L1, the
controller 72 proceeds to step S116. In a case where the load L of
the motor 24 is not greater than or equal to the predetermined load
L1, the controller 72 proceeds to step S115.
[0263] In step S115, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S114. In a case where shifting is
completed, the controller 72 proceeds to step S116. In step S116,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0264] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 in a
case where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and stop driving the transmission body 20 in a case
where the vehicle speed V of the human-powered vehicle 10 becomes
less than or equal to the first speed V1 or the rotational speed of
the wheel 16 becomes less than or equal to a predetermined
rotational speed, other configurations can be omitted. In this
modification, the derailleur 22 can be configured to include or not
to include the electric actuator 48.
[0265] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 18. In a case where the controller 72 is supplied with
electric power, the controller 72 starts the process and proceeds
to step S121 of the flowchart illustrated in FIG. 18. Upon
completion of the flowchart illustrated in FIG. 18, the controller
72 repeats the process from step S121 in predetermined cycles until
the supply of electric power is stopped.
[0266] In step S121, the controller 72 determines whether the
derailleur 22 is actuated. In step S121, the controller 72
executes, for example, the same process as step S71 shown in FIG.
13. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S122.
[0267] In step S122, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step 0203.
[0268] In step S123, the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 and then proceeds
to step S124. In step S124, the controller 72 determines whether
the vehicle speed V is less than or equal to the first speed V1 or
the rotational speed of the wheel 16 is less than or equal to the
predetermined rotational speed. In a case where the load of the
motor 24 is greater than or equal to the predetermined load, the
controller 72 proceeds to step S126. In a case where the vehicle
speed V is not less than or equal to the first speed V1 and the
rotational speed of the wheel 16 is not less than or equal to the
predetermined rotational speed, the controller 72 proceeds to step
S125. In step S124, the controller 72 can proceed to step S126 in a
case where the vehicle speed V is less than or equal to the first
speed V1 and the rotational speed of the wheel 16 is less than or
equal to the predetermined rotational speed.
[0269] In step S125, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S124. In a case where shifting is
completed, the controller 72 proceeds to step S126. In step S126,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0270] As long as the controller 72 is configured to control the
electric actuator 48 and drive the transmission body 20 with the
motor 24 so that the transmission ratio R is changed only in one of
the increasing direction and the decreasing direction in a case
where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, other configurations can be omitted. In this
modification, the derailleur 22 includes the electric actuator
48.
[0271] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 19. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S131 of the flowchart
illustrated in FIG. 19. Upon completion of the flowchart
illustrated in FIG. 19, the controller 72 repeats the process from
step S131 in predetermined cycles until the supply of electric
power is stopped.
[0272] In step S131, the controller 72 determines whether the
derailleur 22 is actuated. For example, in a case where the
shifting execution condition of the first embodiment is satisfied,
the controller 72 determines that the derailleur 22 is actuated.
Preferably, in a case where the shifting execution condition is
satisfied and shifting is performable, the controller 72 determines
that the derailleur 22 is actuated. For example, in step S131, the
controller 72 executes the same process as steps S11, S12, and S10
shown in FIG. 5 of the first embodiment. In a case where an
affirmative determination is made in step S11 and an affirmative
determination is made in step S10, the controller 72 determines
that the derailleur 22 is actuated. In a case where the derailleur
22 is not actuated, the controller 72 ends the process. In a case
where the derailleur 22 is actuated, the controller 72 proceeds to
step S132.
[0273] In step S132, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S133.
[0274] In step S133, the controller 72 controls the electric
actuator 48 and drives the transmission body 20 with the motor 24
so that the transmission ratio R is changed only in one of the
increasing direction and the decreasing direction, and then
proceeds to step S134.
[0275] In step S134, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S133. In a case where shifting is
completed, the controller 72 proceeds to step S135. In step S135,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0276] As long as the controller 72 is configured to control the
electric actuator 48 to change the transmission ratio R in the
predetermined shifting range and configured to drive the
transmission body 20 with the motor 24 in a case where the
derailleur 22 is actuated to change the transmission ratio R and
the predetermined condition related to pedaling is satisfied, other
configurations can be omitted. In this modification, the derailleur
22 includes the electric actuator 48.
[0277] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 20. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S141 of the flowchart
illustrated in FIG. 20. Upon completion of the flowchart
illustrated in FIG. 20, the controller 72 repeats the process from
step S141 in predetermined cycles until the supply of electric
power is stopped.
[0278] In step S141, the controller 72 determines whether the
derailleur 22 is actuated. In step S141, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S142.
[0279] In step S142, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S143.
[0280] In step S143, the controller 72 controls the electric
actuator 48 and drives the transmission body 20 with the motor 24
so that the transmission ratio R is changed in the predetermined
shifting range, and then proceeds to step S144.
[0281] In step S144, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S143. In a case where shifting is
completed, the controller 72 proceeds to step S145. In step S145,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0282] As long as the controller 72 is configured to be switchable
between the first shifting mode, which controls the electric
actuator 48 in accordance with the state of the human-powered
vehicle 10, and the second shifting mode, which controls the
electric actuator 48 in accordance with operation of the
transmission operating device provided on the human-powered vehicle
10, configured to be switchable between the third mode and the
fourth mode in the first shifting mode, and configured in the third
mode to control the motor 24 and drive the transmission body 20 in
accordance with the state of the human-powered vehicle 10 in a case
where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and configured in the fourth mode to control the motor
24 so as not to drive the transmission body 20 even in a case where
the derailleur 22 is actuated to change the transmission ratio R
and the predetermined condition related to pedaling is satisfied,
other configurations can be omitted. In this modification, the
derailleur 22 includes the electric actuator 48.
[0283] A process of the controller 72 for controlling the motor 24
to change the transmission ratio R will be described with reference
to FIG. 21. In a case where the controller 72 is supplied with
electric power, the controller 72 starts the process and proceeds
to step S151 of the flowchart illustrated in FIG. 21. Upon
completion of the flowchart illustrated in FIG. 21, the controller
72 repeats the process from step S151 in predetermined cycles until
the supply of electric power is stopped.
[0284] In step S151, the controller 72 determines whether the
derailleur 22 is actuated. In step S151, the controller 72
executes, for example, the same process as step S71 shown in FIG.
13. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S152.
[0285] In step S152, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S153. In step S153, the controller
72 determines whether the first shifting mode is the fourth mode.
In a case where the first shifting mode is the fourth mode, the
controller 72 ends the process. In a case where the first shifting
mode is not the fourth mode, the controller 72 proceeds to step
S154. In step S154, the controller 72 controls the motor 24 and
drives the transmission body 20 with the motor 24 and then proceeds
to step S155.
[0286] In step S155, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S154. In a case where shifting is
completed, the controller 72 proceeds to step S156. In step S156,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0287] The controller 72 can control the electric actuator 48 using
a process different from the flowchart illustrated in FIG. 21 or
can control the electric actuator 48 using the flowchart
illustrated in FIG. 21. For example, in step S154, the electric
actuator 48 is controlled.
[0288] As long as the controller 72 is configured to control the
electric actuator 48 and the motor 24 so that the first rotational
speed N1, which is calculated in correspondence with the rotational
speed of the wheel 16 and the transmission ratio R, is included in
the predetermined range, configured to drive the transmission body
20 with the motor 24 in a case where the derailleur 22 is actuated
to change the transmission ratio R and the predetermined condition
related to pedaling is satisfied, and configured to control the
electric actuator 48 so that among a plurality of shift stages of
the derailleur 22, the transmission ratio R is set to be in the
largest shift stage in a case where the first rotational speed N1
is included in the predetermined range, other configurations can be
omitted. In this modification, the derailleur 22 includes the
electric actuator 48.
[0289] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 22. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S161 of the flowchart
illustrated in FIG. 22. Upon completion of the flowchart
illustrated in FIG. 22, the controller 72 repeats the process from
step S161 in predetermined cycles until the supply of electric
power is stopped.
[0290] In step S161, the controller 72 determines whether the
derailleur 22 is actuated. In step S161, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S162.
[0291] In step S162, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S163.
[0292] In step S163, the controller 72 determines whether the first
rotational speed N1 is included in the predetermined range. In a
case where the first rotational speed N1 is included in the
predetermined range, the controller 72 proceeds to step S164. In
step S164, the controller 72 controls the electric actuator 48 and
the motor 24 so that among a plurality of shift stages, the
transmission ratio R is set to be in the largest shift stage, and
then proceeds to step S166. In step S164, the controller 72
controls the motor 24 and drives the transmission body 20 with the
motor 24.
[0293] In step S163, in a case where the first rotational speed N1
is not included in the predetermined range, the controller 72
proceeds to step S165. In step S165, the controller 72 controls the
electric actuator 48 and the motor 24 so that the first rotational
speed N1 is included in the predetermined range, and proceeds to
step S166. In step S165, the controller 72 controls the motor 24
and drives the transmission body 20 with the motor 24.
[0294] In step S166, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 again executes S166. In a case where shifting is
completed, the controller 72 proceeds to step S167. In step S167,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0295] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 in a
case where the derailleur 22 is actuated to change the transmission
ratio R and a predetermined condition related to pedaling is
satisfied, and configured to control the electric actuator 48 so as
not to increase the transmission ratio R in a case where the
vehicle speed V of the human-powered vehicle 10 is greater than or
equal to the second speed V2 or the rotational speed of the wheel
16 is greater than or equal to the predetermined rotational speed,
other configurations can be omitted. In this modification, the
derailleur 22 includes the electric actuator 48.
[0296] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 23. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S171 of the flowchart
illustrated in FIG. 23. Upon completion of the flowchart
illustrated in FIG. 23, the controller 72 repeats the process from
step S171 in predetermined cycles until the supply of electric
power is stopped.
[0297] In step S171, the controller 72 determines whether the
derailleur 22 is actuated. In step S171, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S172.
[0298] In step S172, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S173.
[0299] In step S173, the controller 72 determines whether the
vehicle speed V is greater than or equal to the second speed V2 or
the rotational speed of the wheel 16 is greater than or equal to
the predetermined rotational speed. In a case where the vehicle
speed V is greater than or equal to the second speed V2 or the
rotational speed of the wheel 16 is greater than or equal to the
predetermined rotational speed, the controller 72 proceeds to step
S174. In step S174, the controller 72 controls the electric
actuator 48 and the motor 24 so as not to increase the transmission
ratio R, and then proceeds to step S176. In step S174, the
controller 72 controls the motor 24 and drives the transmission
body 20 with the motor 24. In step S174, the controller 72 controls
the electric actuator 48 to decrease the transmission ratio R. In
step S173, the controller 72 can proceed to step S174 in a case
where the vehicle speed V is greater than or equal to the second
speed V2 and the rotational speed of the wheel 16 is greater than
or equal to the predetermined rotational speed.
[0300] In step S173, in a case where the vehicle speed V is not
greater than or equal to the second speed V2 and the rotational
speed of the wheel 16 is not greater than or equal to the
predetermined rotational speed, the controller 72 proceeds to step
S175. In step S175, the controller 72 controls the electric
actuator 48 and the motor 24 to change the transmission ratio R and
proceeds to step S176. In step S175, the controller 72 controls the
motor 24 and drives the transmission body 20 with the motor 24.
[0301] In step S176, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 again executes S176. In a case where shifting is
completed, the controller 72 proceeds to step S177. In step S177,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0302] In steps S174 and S175, the controller 72 can set the target
transmission ratio R. In a case where the derailleur 22 is
actuated, the controller 72 can set the target transmission ratio R
in another process, and in step S174, in a case where the target
transmission ratio R is greater than the present transmission ratio
R, the controller 72 can change the target transmission ratio R to
be less than or equal to the present transmission ratio R. In a
case where the derailleur 22 is actuated, the controller 72 can set
the target transmission ratio R in another process, and in step
S174, in a case where the target transmission ratio R is greater
than the present transmission ratio R, the controller 72 can be
configured not to change the transmission ratio R.
[0303] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 in a case where the
derailleur 22 is actuated by the electric actuator 48 to change the
transmission ratio R and the predetermined condition related to
pedaling is satisfied, and is configured to control the electric
actuator 48 so as not to change the transmission ratio R until the
first condition related to shifting is satisfied in a case where
the derailleur 22 is actuated, other configurations can be omitted.
In this modification, the derailleur 22 includes the electric
actuator 48.
[0304] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 24. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S181 of the flowchart
illustrated in FIG. 24. Upon completion of the flowchart
illustrated in FIG. 24, the controller 72 repeats the process from
step S181 in predetermined cycles until the supply of electric
power is stopped.
[0305] In step S181, the controller 72 determines whether the
derailleur 22 is actuated. In step S181, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S182.
[0306] In step S182, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S183.
[0307] In step S183, the controller 72 determines whether the first
condition related to shifting is satisfied. In a case where the
first condition related to shifting is not satisfied, the
controller 72 again executes step S183. In a case where the first
condition related to shifting is satisfied, the controller 72
proceeds to step S184.
[0308] In step S184, the controller 72 controls the electric
actuator 48 and the motor 24 to change the transmission ratio R and
proceeds to step S185. In step S184, the controller 72 controls the
motor 24 and drives the transmission body 20 with the motor 24.
[0309] In step S185, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 again executes S185. In a case where shifting is
completed, the controller 72 proceeds to step S186. In step S186,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0310] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 in a case where the
derailleur 22 is actuated by the electric actuator 48 to change the
transmission ratio R and the predetermined condition related to
pedaling is satisfied, and configured to control the electric
actuator 48 so as not to change the transmission ratio R with the
derailleur 22 until a second condition related to shifting is
satisfied in a case where the electric actuator 48 and the motor 24
are controlled to increase or decrease the transmission ratio R a
predetermined number of times or more within the predetermined
third time T3, other configurations can be omitted. In this
modification, the derailleur 22 includes the electric actuator
48.
[0311] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 25. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S191 of the flowchart
illustrated in FIG. 25. Upon completion of the flowchart
illustrated in FIG. 25, the controller 72 repeats the process from
step S191 in predetermined cycles until the supply of electric
power is stopped.
[0312] In step S191, the controller 72 determines whether the
derailleur 22 is actuated. In step S191, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S192.
[0313] In step S192, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S193.
[0314] In step S193, the controller 72 determines whether the
electric actuator 48 and the motor 24 are controlled so that the
transmission ratio R is increased or decreased a predetermined
number of times or more within the predetermined third time T3. In
a case where the electric actuator 48 and the motor 24 are
controlled so that the transmission ratio R is increased or
decreased a predetermined number of times or more within the
predetermined third time T3, the controller 72 proceeds to step
S194. In a case where the electric actuator 48 and the motor 24 are
not controlled so that the transmission ratio R is increased or
decreased a predetermined number of times or more within the
predetermined third time T3, the controller 72 proceeds to step
S195.
[0315] In step S194, the controller 72 determines whether the
second condition related to shifting is satisfied. In a case where
the second condition related to shifting is not satisfied, the
controller 72 ends the process. In a case where the second
condition related to shifting is satisfied, the controller 72
proceeds to step S195.
[0316] In step S195, the controller 72 controls the electric
actuator 48 and the motor 24 to change the transmission ratio R and
proceeds to step S196. In step S195, the controller 72 controls the
motor 24 and drives the transmission body 20 with the motor 24.
[0317] In step S196, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 again executes S196. In a case where shifting is
completed, the controller 72 proceeds to step S197. In step S197,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0318] As long as the controller 72 is configured to control the
electric actuator 48 and the motor 24 so that relative movement of
the derailleur 22 and at least one of the first rotational body and
the second rotational body is started at the same time as the motor
24 is driven or before the motor 24 is driven in a case where the
electric actuator 48 and the motor 24 are controlled to change the
transmission ratio R and the predetermined condition related to
pedaling is satisfied, other configurations can be omitted. In this
modification, the derailleur 22 includes the electric actuator
48.
[0319] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 26. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S201 of the flowchart
illustrated in FIG. 26. Upon completion of the flowchart
illustrated in FIG. 26, the controller 72 repeats the process from
step S201 in predetermined cycles until the supply of electric
power is stopped.
[0320] In step S201, the controller 72 determines whether the
derailleur 22 is actuated. In step S201, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S202.
[0321] In step S202, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S203.
[0322] In step S203, the controller 72 controls the electric
actuator 48 and the motor 24 so that relative movement of the
derailleur 22 and at least one of the first rotational body 14 and
the second rotational body 18 is started at the same time as the
motor 24 is driven or before the motor 24 is driven, and then
proceeds to step S204. In step S203, the controller 72 controls the
motor 24 and drives the transmission body 20 with the motor 24.
[0323] In step S204, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S203. In a case where shifting is
completed, the controller 72 proceeds to step S205. In step S205,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0324] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 in a
case where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, configured to control the electric actuator 48 so that
the shift stage of the derailleur 22 approaches the predetermined
shift stage or the transmission ratio R approaches a predetermined
transmission ratio R in a case where the human-powered vehicle 10
is decelerated, configured to control the electric actuator 48 and
change the shift stage of the derailleur 22 one stage at a time in
a case where the difference of the predetermined shift stage and
the present shift stage of the derailleur 22 or the difference of
the predetermined transmission ratio R and the present transmission
ratio R is less than or equal to the predetermined value, and
configured to control the electric actuator 48 so as to
continuously actuate the derailleur 22 over a plurality of shift
stages in a case where the difference of the predetermined shift
stage and the present shift stage of the derailleur 22 or the
difference of the predetermined transmission ratio R and the
present transmission ratio R exceeds the predetermined value, other
configurations can be omitted. In this modification, the derailleur
22 includes the electric actuator 48.
[0325] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 27. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S211 of the flowchart
illustrated in FIG. 27. Upon completion of the flowchart
illustrated in FIG. 27, the controller 72 repeats the process from
step S211 in predetermined cycles until the supply of electric
power is stopped.
[0326] In step S211, the controller 72 determines whether the
derailleur 22 is actuated. In step S211, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S212.
[0327] In step S212, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S213.
[0328] In step S213, the controller 72 determines whether the
human-powered vehicle 10 is decelerated. In a case where the
human-powered vehicle 10 is not decelerated, the controller 72 ends
the process. In a case where the human-powered vehicle 10 is
decelerated, the controller 72 proceeds to step S214.
[0329] In step S214, the controller 72 determines whether the
difference of the predetermined shift stage and the present shift
stage of the derailleur 22 or the difference of the predetermined
transmission ratio R and the present transmission ratio R is less
than or equal to the predetermined value. In a case where the
difference of the predetermined shift stage and the present shift
stage of the derailleur 22 or the difference of the predetermined
transmission ratio R and the present transmission ratio R is less
than or equal to the predetermined value, the controller 72
proceeds to step S215. In a case where the difference of the
predetermined shift stage and the present shift stage of the
derailleur 22 or the difference of the predetermined transmission
ratio R and the present transmission ratio R is not less than or
equal to the predetermined value, the controller 72 proceeds to
step S216.
[0330] In step S215, the controller 72 controls the motor 24 to
drive the transmission body 20 with the motor 24 and controls the
electric actuator 48 to change the shift stage of the derailleur 22
one stage at a time, and proceeds to step S217.
[0331] In step S216, the controller 72 controls the motor 24 to
drive the transmission body 20 with the motor 24 and controls the
electric actuator 48 to continuously actuate the derailleur 22 over
a plurality of shift stages, and proceeds to step S217.
[0332] In step S217, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S214. In a case where shifting is
completed, the controller 72 proceeds to step S218. In step S218,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0333] As long as the controller 72 is configured to control the
motor 24 and drive the transmission body 20 with the motor 24 in a
case where the derailleur 22 is actuated to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and configured to control the electric actuator 48 so
that the fifth time T5 during which the derailleur 22 is actuated
over a plurality of shift stages in a case where the vehicle speed
V of the human-powered vehicle 10 is less than or equal to the
predetermined fifth speed V5 becomes shorter than the sixth time T6
during which the derailleur 22 is actuated over a plurality of
shift stages in a case where the vehicle speed V of the
human-powered vehicle 10 exceeds the predetermined fifth speed V5,
other configurations can be omitted. In this modification, the
derailleur 22 includes the electric actuator 48.
[0334] A process of the controller 72 for controlling the motor 24
and the electric actuator 48 to change the transmission ratio R
will be described with reference to FIG. 28. In a case where the
controller 72 is supplied with electric power, the controller 72
starts the process and proceeds to step S221 of the flowchart
illustrated in FIG. 28. Upon completion of the flowchart
illustrated in FIG. 28, the controller 72 repeats the process from
step S221 in predetermined cycles until the supply of electric
power is stopped.
[0335] In step S221, the controller 72 determines whether the
derailleur 22 is actuated. In step S221, the controller 72
executes, for example, the same process as step S131 shown in FIG.
19. In a case where the derailleur 22 is not actuated, the
controller 72 ends the process. In a case where the derailleur 22
is actuated, the controller 72 proceeds to step S222.
[0336] In step S222, the controller 72 determines whether the
predetermined condition related to pedaling is satisfied. In a case
where the predetermined condition related to pedaling is not
satisfied, the controller 72 ends the process. In a case where the
predetermined condition related to pedaling is satisfied, the
controller 72 proceeds to step S223.
[0337] In step S223, the controller 72 determines whether the
vehicle speed V of the human-powered vehicle 10 is less than or
equal to the predetermined fifth speed V5. In a case where the
vehicle speed V of the human-powered vehicle 10 is less than or
equal to the predetermined fifth speed V5, the controller 72
proceeds to step S224. In a case where the vehicle speed V of the
human-powered vehicle 10 is not less than or equal to the
predetermined fifth speed V5, the controller 72 proceeds to step
S225.
[0338] In step S224, the controller 72 controls the motor 24 to
drive the transmission body 20 with the motor 24 and controls the
electric actuator 48 so that the fifth time T5 becomes shorter than
the sixth time T6, and proceeds to step S226.
[0339] In step S225, the controller 72 controls the motor 24 to
drive the transmission body 20 with the motor 24 and controls the
electric actuator 48, and proceeds to step S226.
[0340] In step S226, the controller 72 determines whether shifting
is completed. In a case where shifting is not completed, the
controller 72 proceeds to step S223. In a case where shifting is
completed, the controller 72 proceeds to step S227. In step S227,
the controller 72 stops driving the transmission body 20 with the
motor 24 and ends the process.
[0341] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16, S20, and S30 can be
omitted from FIG. 5. In a case where at least one of steps S16,
S20, and S30 is omitted from FIG. 5, the configuration
corresponding the omitted step can be omitted from the controller
72. In a case where step S16 is omitted from FIG. 5, the controller
72 executes step S15 and then proceeds to step S17. In a case where
a negative determination is made in step S17, the controller 72
repeats step S17. In a case where step S20 is omitted from FIG. 5
and an affirmative determination is made in step S13, the
controller 72 proceeds to step S30. In a case where step S30 is
omitted from FIG. 5 and an affirmative determination is made in
step S20, the controller 72 proceeds to step S14. In a case where
steps S20 and S30 are omitted from FIG. 5 and an affirmative
determination is made in step S13, the controller 72 proceeds to
step S14. In an embodiment including the third embodiment or a
modification of the third embodiment, at least one of steps S16 and
S20 can be omitted from FIG. 10. In a case where at least one of
steps S16 and S20 is omitted from FIG. 10, the configuration
corresponding the omitted step can be omitted from the controller
72. In a case where step S16 is omitted from FIG. 10, the
controller 72 executes step S14 and then proceeds to step S57. In a
case where a negative determination is made in step S57, the
controller 72 repeats step S57. In a case where step S20 is omitted
from FIG. 10 and an affirmative determination is made in step S13,
the controller 72 proceeds to step S14.
[0342] In an embodiment including the first embodiment, the second
embodiment, a modification of the first embodiment, a modification
of the second embodiment, the third embodiment, or a modification
of the third embodiment, the controller 72 is not limited to
configurations (A1), (A2), (A3), and (A4) and can have any
configuration that controls the motor 24 to drive the transmission
body 20 with the motor 24. The controller 72 can control the motor
24 to drive the transmission body 20 with the motor 24 using a
configuration differing from configurations (A1), (A2), (A3), and
(A4). The controller 72 includes the following configuration (A5),
(A6), or (A7) as the configuration differing from configurations
(A1), (A2), (A3), and (A4).
[0343] (A5) In a case of driving the transmission body 20 with the
motor 24, the controller 72 is configured to control the motor 24
so that the transmission body 20 moves at a constant speed
regardless of the transmission ratio R.
[0344] (A6) The controller 72 is configured to control the motor 24
so that moving speed of the transmission body 20 increases from the
time of starting to move regardless of the transmission ratio
R.
[0345] (A7) The controller 72 is configured to control the motor 24
so that moving speed of the transmission body 20 increases from the
time of starting to move and then becomes constant regardless of
the transmission ratio R.
[0346] For example, in the first embodiment, the second embodiment,
a modification of the first embodiment, or a modification of the
second embodiment, in step S14 shown in FIG. 5, the controller 72
can control the motor 24 to drive the transmission body 20 with the
motor 24 using a configuration differing from configurations (A1),
(A2), (A3), and (A4). For example, in an embodiment including the
third embodiment or a modification of the third embodiment, in step
S14 shown in FIG. 10, the controller 72 can control the motor 24 to
drive the transmission body 20 with the motor 24 using a
configuration differing from configurations (A1), (A2), (A3), and
(A4).
[0347] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16, S20, and S30 can be
omitted from FIG. 5, and in step S14 shown in FIG. 5, the
controller 72 can control the motor 24 to drive the transmission
body 20 with the motor 24 using a configuration differing from
configurations (A1), (A2), (A3), and (A4). In a case where at least
one of steps S16, S20, and S30 is omitted from FIG. 5, the
configuration corresponding the omitted step can be omitted from
the controller 72.
[0348] In an embodiment including the third embodiment or a
modification of the third embodiment, at least one of steps S16 and
S20 can be omitted from FIG. 10, and in step S14 shown in FIG. 10,
the controller 72 can control the motor 24 to drive the
transmission body 20 with the motor 24 using a configuration
differing from configurations (A1), (A2), (A3), and (A4). In a case
where at least one of steps S16 and S20 is omitted from FIG. 10,
the configuration corresponding the omitted step can be omitted
from the controller 72. The configuration differing from
configurations (A1), (A2), (A3), and (A4) can be configuration
(A5), (A6), or (A7) or another configuration. In this modification,
the motor 24 of the power transmission system 60 is configured to
drive the transmission body 20 and generate electric power by being
driven by the transmission body 20, the power storage device 66 is
configured to store the electric power generated by the motor 24,
and the control device 70 is configured to control the motor 24
using electric power of the power storage device 66. Thus, the
transmission ratio R is changed in a preferred manner.
[0349] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16, S20, and S30 can be
omitted from FIG. 5. In a case where at least one of steps S16,
S20, and S30 is omitted from FIG. 5, the configuration
corresponding the omitted step can be omitted from the controller
72. In this modification, the controller 72 is configured to
control the electric actuator 48 so that among a plurality of shift
stages of the derailleur 22, the transmission ratio R is set to be
in the largest shift stage in a case where the first rotational
speed N1 is included in the predetermined range. In this
modification, in step S15 shown in FIG. 5, the controller 72
controls the electric actuator 48 so that among a plurality of
shift stages of the derailleur 22, the transmission ratio R is set
to be in the largest shift stage in a case where the first
rotational speed N1 is included in the predetermined range. Thus,
the transmission ratio R is changed in a preferred manner.
[0350] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16 and S20 can be omitted
from FIG. 5. In a case where at least one of steps S16 and S20 is
omitted from FIG. 5, the configuration corresponding the omitted
step can be omitted from the controller 72. In this modification,
the controller 72 is configured to control the motor 24 to drive
the transmission body 20 in a case where the derailleur 22 is
actuated by the electric actuator 48 to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and is configured to control the electric actuator 48 so
as not to increase the transmission ratio R in a case where the
vehicle speed V of the human-powered vehicle 10 is greater than or
equal to the second speed V2 or the rotational speed NW of the
wheel 16 is greater than or equal to the predetermined rotational
speed NWX. Thus, the transmission ratio R is changed in a preferred
manner. In step S30 shown in FIG. 5, the controller 72 determines
whether the vehicle speed V of the human-powered vehicle 10 is
greater than or equal to the second speed V2 or the rotational
speed NW of the wheel 16 is greater than or equal to the
predetermined rotational speed NWX and the target transmission
ratio R is less than the present transmission ratio R. In this
modification, the controller 72 can be configured to control the
electric actuator 48 so that the transmission ratio R does not
increase in a case where the vehicle speed V of the human-powered
vehicle 10 is greater than or equal to the second speed V2 and the
rotational speed NW of the wheel 16 is greater than or equal to the
predetermined rotational speed NWX. In a case where the vehicle
speed V of the human-powered vehicle 10 is greater than or equal to
the second speed V2 or the rotational speed NW of the wheel 16 is
greater than or equal to the predetermined rotational speed NWX,
the controller 72 does not output the first shifting control signal
to the electric actuator 48. In step S30 shown in FIG. 5, the
controller 72 ends the process in a case where the vehicle speed V
of the human-powered vehicle 10 is greater than or equal to the
second speed V2 or the rotational speed NW of the wheel 16 is
greater than or equal to the predetermined rotational speed NWX and
the shifting execution condition for increasing the transmission
ratio R is satisfied.
[0351] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16 and S20 can be omitted
from FIG. 5. In a case where at least one of steps S16 and S20 is
omitted from FIG. 5, the configuration corresponding the omitted
step can be omitted from the controller 72. In this modification,
the controller 72 is configured to control the motor 24 and drive
the transmission body 20 in a case where the derailleur 22 is
actuated by the electric actuator 48 to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and is configured to control the electric actuator 48 so
as not to change the transmission ratio R until the first condition
related to shifting is satisfied in a case where the derailleur 22
is actuated. Thus, the transmission ratio R is changed in a
preferred manner. In a case where the derailleur 22 is actuated,
the controller 72 does not output the shifting control signal to
the electric actuator 48 until the first condition related to
shifting is satisfied. In step S30 shown in FIG. 5, the controller
72 ends the process in a case where the derailleur 22 is actuated
and the first condition related to shifting is not satisfied.
[0352] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16 and S20 can be omitted
from FIG. 5. In a case where at least one of steps S16 and S20 is
omitted from FIG. 5, the configuration corresponding the omitted
step can be omitted from the controller 72. In this modification,
the controller 72 is configured to control the motor 24 and drive
the transmission body 20 in a case where the derailleur 22 is
actuated by the electric actuator 48 to change the transmission
ratio R and the predetermined condition related to pedaling is
satisfied, and configured to control the electric actuator 48 so as
not to change the transmission ratio R with the derailleur 22 until
the second condition related to shifting is satisfied in a case
where the electric actuator 48 and the motor 24 are controlled to
increase or decrease the transmission ratio R a predetermined
number of times or more within the predetermined third time T3.
Thus, the transmission ratio R is changed in a preferred
manner.
[0353] The controller 72 does not output the shifting control
signal to the electric actuator 48 until the second condition
related to shifting is satisfied in a case where the electric
actuator 48 and the motor 24 are controlled to increase or decrease
the transmission ratio R a predetermined number of times or more
within the predetermined third time T3. In step S30, the controller
72 ends the process in a case where the electric actuator 48 and
the motor 24 are controlled to increase or decrease the
transmission ratio R a predetermined number of times or more within
the predetermined third time T3 and the second condition related to
shifting is not satisfied.
[0354] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16, S20, and S30 can be
omitted from FIG. 5. In a case where at least one of steps S16,
S20, and S30 is omitted from FIG. 5, the configuration
corresponding the omitted step can be omitted from the controller
72. In this modification, the controller 72 is configured to
control the electric actuator 48 and the motor 24 so that relative
movement of the derailleur 22 and at least one of the first
rotational body 14 and the second rotational body 18 is started at
the same time as the motor 24 is driven or before the motor 24 is
driven in a case where the electric actuator 48 and the motor 24
are controlled to change the transmission ratio R and the
predetermined condition related to pedaling is satisfied. Thus, the
transmission ratio R is changed in a preferred manner. In this
modification, preferably, in step S14 shown in FIG. 5, the
controller 72 controls the motor 24 so as not to drive the motor 24
until the electric actuator 48 is actuated in step S15.
[0355] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16, S20, and S30 can be
omitted from FIG. 5. In a case where at least one of steps S16,
S20, and S30 is omitted from FIG. 5, the configuration
corresponding the omitted step can be omitted from the controller
72. In this modification, the controller 72 is configured to
control the electric actuator 48 so that the shift stage of the
derailleur 22 approaches the predetermined shift stage or the
transmission ratio R approaches a predetermined transmission ratio
RX in a case where the human-powered vehicle 10 is decelerated,
configured to control the electric actuator 48 and change the shift
stage of the derailleur 22 one stage at a time in a case where the
difference of the predetermined shift stage and the present shift
stage of the derailleur 22 or the difference of the predetermined
transmission ratio R and the present transmission ratio R is less
than or equal to the predetermined value, and configured to control
the electric actuator 48 so as to continuously actuate the
derailleur 22 over a plurality of shift stages in a case where the
difference of the predetermined shift stage and the present shift
stage of the derailleur 22 or the difference of the predetermined
transmission ratio R and the present transmission ratio R exceeds
the predetermined value. Thus, the transmission ratio R is changed
in a preferred manner.
[0356] In this modification, in step S11, in a case where the
human-powered vehicle 10 is decelerated, the controller 72
determines that the shifting execution condition is satisfied. In
step S15, the controller 72 controls the electric actuator 48 so
that the shift stage of the derailleur 22 approaches the
predetermined shift stage or the transmission ratio R approaches
the predetermined transmission ratio RX in a case where the
human-powered vehicle 10 is decelerated, and controls the electric
actuator 48 and change the shift stage of the derailleur 22 one
stage at a time in a case where the difference of the predetermined
shift stage and the present shift stage of the derailleur 22 or the
difference of the predetermined transmission ratio R and the
present transmission ratio R is less than or equal to the
predetermined value, and controls the electric actuator 48 so as to
continuously actuate the derailleur 22 over a plurality of shift
stages in a case where the difference of the predetermined shift
stage and the present shift stage of the derailleur 22 or the
difference of the predetermined transmission ratio R and the
present transmission ratio R exceeds the predetermined value. In
step S11, for example, in a case where deceleration in a direction
corresponding to the traveling direction of the human-powered
vehicle 10 is greater than the predetermined deceleration, the
controller 72 can determine that the shifting execution condition
is satisfied.
[0357] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, at least one of steps S16, S20, and S30 can be
omitted from FIG. 5. In a case where at least one of steps S16,
S20, and S30 is omitted from FIG. 5, the configuration
corresponding the omitted step can be omitted from the controller
72. In this modification, the controller 72 is configured to
control the electric actuator 48 so that the fifth time T5 during
which the derailleur 22 is actuated over a plurality of shift
stages in a case where the vehicle speed V of the human-powered
vehicle 10 is less than or equal to the predetermined fifth speed
V5 becomes shorter than the sixth time T6 during which the
derailleur 22 is actuated over a plurality of shift stages in a
case where the vehicle speed V of the human-powered vehicle 10
exceeds the predetermined fifth speed V5.
[0358] In this modification, in step S15 shown FIG. 5, the
controller 72 controls the electric actuator 48 so that the fifth
time T5 during which the derailleur 22 is actuated over a plurality
of shift stages in a case where the vehicle speed V of the
human-powered vehicle 10 is less than or equal to the predetermined
fifth speed V5 becomes shorter than the sixth time T6 during which
the derailleur 22 is actuated over a plurality of shift stages in a
case where the vehicle speed V of the human-powered vehicle 10
exceeds the predetermined fifth speed V5. Thus, the transmission
ratio R is changed in a preferred manner.
[0359] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, the controller 72 can execute the process in the
flowchart illustrated in FIG. 6, and the entire process in the
flowchart illustrated in FIG. 5 can be omitted. In a case where the
process shown in FIG. 5 is omitted, the configuration corresponding
the omitted step can be omitted from the controller 72. In this
modification, the control device 70 includes the controller 72
configured to control the electric actuator 48 and the motor 24 and
receive a signal for adjusting the position of the derailleur 22.
The controller 72 is configured to control the motor 24 and drive
the motor 24 in a case where the signal for adjusting the position
of the derailleur 22 is received, and is configured to control the
electric actuator 48 so that the position of the derailleur 22
corresponds to the first transmission ratio R1 in a case where the
first transmission ratio R1 corresponding to the rotational speed
of the motor 24 and the rotational speed NW of the wheel 16 does
not correspond to the present position of the derailleur 22. Thus,
the transmission ratio R is changed in a preferred manner.
[0360] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, the entire process in the flowchart illustrated
in FIG. 5 and the entire process in the flowchart illustrated in
FIG. 6 can be omitted from the configuration of the controller 72.
In a case where the process shown in FIG. 5 is omitted, the
configuration corresponding the omitted step can be omitted from
the controller 72. In this modification, the controller 72 is
configured to control the electric actuator 48 using electric power
of the power storage device 66. Thus, the transmission ratio R is
changed in a preferred manner.
[0361] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, the controller 72 does not have to execute step
S13 in the flowchart illustrated in FIG. 5. In a case where step
S13 is omitted from FIG. 5, the configuration corresponding to the
omitted step can be omitted from the controller 72. In this case,
in the flowchart illustrated in FIG. 5, in a case where an
affirmative determination is made in step S10, the controller 72
can proceed to step S20 or S19. In the flowchart illustrated in
FIG. 5, after executing step S12, the controller 72 can proceed to
one of steps S20 and S19 in accordance with a condition different
from the predetermined condition related to pedaling.
[0362] Further, in this modification, at least one of steps S16,
S20, and S30 can be omitted from FIG. 5, and in step S14 shown in
FIG. 5, the controller 72 can control the motor 24 to drive the
transmission body 20 with the motor 24 using a configuration
differing from configurations (A1), (A2), (A3), and (A4). In the
third embodiment or a modification of the third embodiment, the
controller 72 does not have to execute step S13 in the flowchart
illustrated in FIG. 10. In a case where step S13 is omitted from
FIG. 10, the configuration corresponding to the omitted step can be
omitted from the controller 72. In this case, in the flowchart
illustrated in FIG. 10, in a case where an affirmative
determination is made in step S51, the controller 72 proceeds to
step S20.
[0363] Further, in a modification in which step S13 is omitted from
the flowchart illustrated in FIG. 10, at least one of steps S16 and
S20 can be omitted from FIG. 10, and in step S14, the controller 72
can control the motor 24 and drive the transmission body 20 with
the motor 24 using a configuration differing from configurations
(A1), (A2), (A3), and (A4). In a modification in which step S13 is
omitted from FIG. 5 and a modification in which step S13 is omitted
from FIG. 10, the motor 24 of the power transmission system 60 is
configured to drive the transmission body 20 and generate electric
power by being driven by the transmission body 20, the power
storage device 66 is configured to store the electric power
generated by the motor 24, and the control device 70 is configured
to control the motor 24 using electric power of the power storage
device 66. Thus, the transmission ratio R is changed in a preferred
manner.
[0364] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, the motor 24 can be configured not to apply a
propulsion force to the human-powered vehicle 10 in correspondence
with the human driving force H.
[0365] In the first embodiment, the second embodiment, a
modification of the first embodiment, or a modification of the
second embodiment, instead of executing step S17 in the flowchart
illustrated in FIG. 5, the controller 72 can determine whether a
predetermined time elapses from the time of driving the motor 24.
Information related to predetermined time T is stored in the
storage 74. In a case where the predetermined time T has elapsed
from the time of driving the motor 24, the controller 72 proceeds
to step S18. The predetermined time T can be fixed or can be
changed in accordance with at least one of the present transmission
ratio R and the target transmission ratio R. Information related to
predetermined time T is stored in the storage 74.
[0366] The controller 72 repeats step S17 until the predetermined
time T elapses from the time of driving the motor 24. In the third
embodiment or a modification of the third embodiment, the
controller 72 can determine whether the predetermined time elapses
from the time of driving the motor 24 instead of executing step S57
in the flowchart illustrated in FIG. 10. In a case where the
predetermined time T has elapsed from the time of driving the motor
24, the controller 72 proceeds to step S18. The predetermined time
T can be fixed or can be changed in accordance with at least one of
the present transmission ratio R and the target transmission ratio
R. The controller 72 repeats step S57 until the predetermined time
T elapses from the time of driving the motor 24.
[0367] In this specification, the phrase "at least one of" as used
in this disclosure means "one or more" of a desired choice. As one
example, the phrase "at least one of" as used in this disclosure
means "only one choice" or "both of two choices" in a case where
the number of choices is two. In another example, in this
specification, the phrase "at least one of" as used in this
disclosure means "only one single choice" or "any combination of
equal to or more than two choices" if the number of its choices is
equal to or more than three.
* * * * *